EP2477926B1 - Elevator car - Google Patents

Elevator car Download PDF

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Publication number
EP2477926B1
EP2477926B1 EP20100752588 EP10752588A EP2477926B1 EP 2477926 B1 EP2477926 B1 EP 2477926B1 EP 20100752588 EP20100752588 EP 20100752588 EP 10752588 A EP10752588 A EP 10752588A EP 2477926 B1 EP2477926 B1 EP 2477926B1
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EP
European Patent Office
Prior art keywords
door panel
electric motor
control device
door
crank drive
Prior art date
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Application number
EP20100752588
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German (de)
French (fr)
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EP2477926A1 (en
Inventor
Jules Christen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
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Inventio AG
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Publication date
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Priority to EP20100752588 priority Critical patent/EP2477926B1/en
Publication of EP2477926A1 publication Critical patent/EP2477926A1/en
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Publication of EP2477926B1 publication Critical patent/EP2477926B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/06—Door or gate operation of sliding doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D15/00—Suspension arrangements for wings
    • E05D15/06—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane
    • E05D15/0621—Details, e.g. suspension or supporting guides
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
    • E06B3/34—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with only one kind of movement
    • E06B3/42—Sliding wings; Details of frames with respect to guiding
    • E06B3/46—Horizontally-sliding wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • B66B19/007—Mining-hoist operation method for modernisation of elevators

Definitions

  • the present invention relates to an elevator car of an elevator installation and to a method for modernizing an elevator car, in particular its door drive.
  • Such an elevator car includes, inter alia, an access opening, a car door for closing the access opening, wherein the car door at least one sliding parallel to the access door panel, a crank drive for moving the at least one door panel between an open position and a closed position, an electric motor for driving the sliding crank drive and Having control device for driving the electric motor.
  • the EP 0 677 475 B1 shows a method of controlling an elevator door, wherein an elevator door is moved from an extreme position to another extreme position and phase information resulting from the movement step is stored.
  • the elevator door is moved at a constant, preselected speed while counting pulses generated by an incremental encoder.
  • the EP 0 383 087 A1 describes an elevator car with a lift cage and an elevator door with several door panels. There are provided door drive arms, which are parts of a slider crank drive and are driven by a drive pulley by an electric motor.
  • JP02204293 discloses an elevator car according to the preamble of claim 1.
  • JP 2002302369 discloses a method according to the preamble of claim 13.
  • a further object of the invention is to specify a method for modernizing an elevator car with a car door and a door drive comprising a sliding crank drive, which leads to an elevator car with a door drive, in which the closing or opening times are minimized, in particular those during the closing process in the door fields maximum kinetic energy does not exceed a permissible value.
  • a first aspect of the invention relates to an elevator car with the features of claim 1.
  • Advantageous developments and refinements of this invention are the subject of the dependent claims 2 to 12.
  • the elevator car has an access opening which can be closed with a car door.
  • the cabin door has at least one door panel which can be displaced parallel to the access opening.
  • a sliding crank drive With a sliding crank drive, the at least one door panel can be moved between an open position and a closed position.
  • an electric motor for driving the sliding crank drive which can be controlled by means of a control device.
  • the control device is designed such that it can control the electric motor such that the movement speed of the at least one door panel is substantially constant over the entire movement path between the open position and the closed position of the door panel.
  • substantially constant is to be understood in particular that the irregularities caused by the kinematics of the sliding-crank drive are compensated in the movement and the door panels are closed or opened at least almost at the same speed. Notwithstanding this, a certain start-up or deceleration of the door panels remains in the vicinity of the Extreme position of the door panels, namely the positions where the car door is fully closed or fully open. It goes without saying that a constant speed can not prevail close to the extreme positions since stopping is always associated with a speed change that exists over at least a short time. Furthermore, even without prejudice to the substantially constant speed of the door panels, a gentle starting or braking of the door panels can be provided without leaving the subject of the invention.
  • the term "total movement path” preferably means that movement path in which the door panel is already accelerated to an operating speed or before the door panel is braked again from this operating speed.
  • the uneven movement is compensated for by the control according to the invention of the rotational speed of the electric motor.
  • the speed of the electric motor is reduced, and in areas of crank arm positions where at a constant speed of the electric motor a below average speed of the door panel would result Speed of the electric motor increased.
  • the elevator car of the invention advantageously combines the advantages of a conventional push-crank drive for the door panels (ie defined end positions, simple construction, etc.) with the advantages of intelligent control of the electric motor, ie with the advantages of a substantially constant speed of the moving door panel. This allows shorter closing and opening times for the door panels can be achieved without the maximum allowable kinetic Passing energy in the moving doorway.
  • the control device is designed so that it can control the electric motor such that the maximum exerted by the sliding crank drive on the at least one door panel actuation force over the entire path of movement between the open position and the closed position of the door panel is substantially constant.
  • the maximum producible torque of the electric motor is reduced taking into account the currently given kinematic conditions.
  • the maximum producible torque of the electric motor increases, taking into account the currently given kinematic conditions. This ensures that in any position of the sliding crank drive an impermissibly high actuation force can be exerted on the door panel, so that passengers trapped by the closing door panel are not injured.
  • control device has a memory device for storing a predetermined speed curve for the electric motor over the entire movement path between the open position and the closed position of the door panel.
  • the predetermined speed curve then causes in conjunction with the changing ratio of the sliding crank drive a substantially constant speed of movement of the at least one door panel over its entire path of movement.
  • the storage device may also be designed to store the transmission ratios of the sliding crank drive which vary as a function of the position of the sliding crank drive over the entire movement path of the door panel.
  • the transmission ratios of the sliding crank drive which vary as a function of the position of the sliding crank drive over the entire movement path of the door panel.
  • an evaluation device can also be provided, which can detect a deviation between an actual engine size and an engine size required for the predetermined speed curve.
  • an engine size are meant in particular state variables of the engine, which may indicate a speed or a motor drive torque.
  • a motor size can be, for example in a DC drive, for the speed curve of the course of the armature voltage; for the course of the torque, this can be in particular the course of the armature current.
  • the control device is designed such that when a detected deviation of a certain size, in particular a state variable of the motor, the movement of the door panel is stopped or vice versa.
  • a certain size in particular a state variable of the motor
  • the movement of the door panel is stopped or vice versa.
  • the movement of the door panel is blocked by an obstacle, such as a person who is trapped by the door panel.
  • the door panel can only continue to move slowly, if at all. Due to the blocking and the torque increase necessary to maintain the rotational speed, the armature current strength increases, for example, in the case of a DC drive, which can be detected by the evaluation device.
  • the door can then be stopped and / or accelerated in the opposite direction to allow reopening of the door panel or release of a trapped person.
  • a speed measuring device for detecting a movement speed the at least one door panel provided.
  • a speed measuring device may, for example, comprise a position measuring sensor which can record a path change. Taking into account the time unit required thereby, the movement speed can be determined at least in a section of the movement path.
  • a speed measuring device can also be formed by an acceleration sensor. By integrally forming a determined acceleration curve over a unit of time can be concluded that the current movement speed, in particular a door panel.
  • control device preferably further comprises an adaptation device for adapting the predetermined speed profile for the electric motor during operation of the elevator car on the basis of the detected movement speed of the at least one door panel.
  • the adaptation device serves, in particular, to ensure that the speed curve, which is predetermined, is actually maintained.
  • the adaptation device can change state variables of the electric motor, such as, for example, the armature current intensity.
  • an angle measuring device for detecting at least one angular position of at least one component of the sliding-crank drive.
  • One component of the slider-crank drive may in particular be a crank wheel, a connecting arm or a door drive arm.
  • the angular position can be an absolute angular position of the corresponding component with respect to the vertical or the horizontal.
  • the angular position can also be the relative angular position of one component relative to another component of the elevator car, in particular another component of the sliding crank drive, in particular the respective other arm. It is advantageous if - as described above - conclusions about the angular position of the momentary adjustment of the sliding crank drive dependent translation of the crank drive are possible. From this translation can be concluded that the necessary engine speed or the permissible engine torque.
  • control device is designed such that a regulation of the engine torque and / or the engine speed of the electric motor is provided in dependence on the angular position detected by the angle measuring device.
  • the angular position thus represents an input variable of the regulation of the engine speed and / or the maximum permissible engine torque.
  • the control device then strictly assumes the tasks of a control device.
  • control device may be a programmable control device.
  • control device can be programmed with an algorithm which can take into account the kinematics of the sliding-crank drive in determining the instantaneous engine speed and / or the instantaneous engine torque of the electric motor such that, in particular, a constant speed of the door panel results and / or the closing force which can be exerted on the door panel remains constant throughout the closing or opening path.
  • a reduction gear is arranged between the electric motor and the slider crank drive.
  • the reduction gear allows the use of an electric motor with appropriate, commercial rated speed.
  • a car door with at least one sliding parallel to the access door panel to close the access opening, a sliding crank to move the at least one door panel between an open position and a closed position and an electric motor for driving the sliding crank drive, a removed existing control device for driving the electric motor and replaced by a control device, which is designed such that it can control the electric motor so that a movement speed of the at least one door panel over the entire movement path between an open position and a closed position of the door panel is substantially constant, and / or that of the sliding crank drive on the at least one door panel maximally exercisable actuating force over the entire path of movement between the open position and the closed position of the door panel is substantially constant.
  • an existing electric motor is removed and a new electric motor is installed.
  • a new electric motor may be required to ensure proper interaction between the newly installed control device and the electric motor.
  • the control device may comprise, for example, a frequency converter or a DC control device for controlling the speed and / or the torque of the electric motor.
  • a speed measuring device for detecting a movement speed of at least one door panel is preferably installed in the course of the modernization.
  • an angle measuring device for detecting at least one angular position of at least one component of the sliding-crank drive can preferably be installed.
  • Fig. 1 is extracts and simplifies an elevator car 1 with an access opening 11 shown.
  • the access opening 11 is closed by a car door.
  • the car door has two door panels 10, which are displaceable parallel to the access opening 11 by a door drive 15.
  • the door panels 10 are hung on a door hanger 12 so over rollers that they are axially displaceable along a guide rail 14.
  • the guide rail 14 is fixedly arranged on a support plate 16 of the elevator car.
  • the door drive 15 is arranged substantially on the support plate 16 and comprises an electric motor 22 and a sliding crank drive.
  • the slider-crank drive essentially comprises a crank wheel 18 and, for each of the two door panels 10, a connecting arm 24, a door drive arm 26 and a coupling lever 28.
  • the electric motor 22 is actuated by a control device 32 and drives the crank wheel 18 of the slider-crank drive with the interposition of a reduction gear 20 that the crank wheel turns half a turn, alternately counterclockwise and clockwise.
  • a larger pulley of a double-pulley 20.1 of the reduction gear 20 is coupled by means of a first belt 23.1 with a pulley 22.1 of the electric motor 22.
  • the crank wheel 18 is coupled by means of a second belt 23.2 with a smaller pulley of the double-pulley 20.1 of the reduction gear 20.
  • the connecting arm 24 of the sliding crank drive is articulated on the crank wheel 18 at its first end. Half a rotation of the crank wheel 18 substantially causes a horizontal displacement of the connecting arm 24.
  • the slider crank drive further comprises a door drive arm 26, which is mounted relatively stationary, but rotatable about an axis of rotation 30 on the support plate 16. The axis of rotation 30 of the door drive arm 26 is disposed between the first end and the second end thereof. At its upper end of the door drive arm 26 with a second end of the connecting arm 24 hingedly connected. A lower end of the door drive arm 26 is pivotally connected to a first end of a coupling lever 28, whose second end is pivotally mounted on a door panel 10.
  • a rotational movement of the output shaft of the electric motor 22 causes via the pulley 22.1 and the first belt 23.1 a rotational movement of the double pulley 20.1 of the reduction gear 20.
  • About the smaller pulley of the double pulley 20.1 and the second belt 23.2 is a slowed, but provided with higher torque rotational movement of the crank wheel 18 generated.
  • the in Fig. 1 shown situation of the components of the sliding crank drive causes a rotation of the crank wheel 18 in the counterclockwise direction, a displacement of the connecting arm 24 to the right.
  • the door drive arm 26, which is drive-connected to the connecting arm 24, makes a clockwise movement about the axis of rotation 30.
  • a uniform rotation of the output shaft of the electric motor 22 results in a non-linear movement of the door panel 10, wherein the non-linearity is due to the ratio of the thrust crank mechanism depending on the momentary adjustment of the sliding crank drive.
  • a control device 32 is provided which controls the electric motor 22 in such a way that the desired constant movement speed of the door panel 10 is achieved.
  • control device 32 outputs a speed command value, which changes in the course of the movement of the door panel and which is formed so that a substantially constant speed of movement over the entire path of movement of the door panel 10 is ensured.
  • control device has, for example, a memory device 34, in which a speed curve for the electric motor is stored. This stored and predetermined speed curve causes, transmitted by the thrust crank mechanism and the reduction gear, a substantially constant movement of the door panel.
  • the control device 32 may have an evaluation device 36, which determines, for example, deviations of the armature voltage applied to the electric motor 22 and the armature current intensity from a predetermined or optimum setpoint value. For detecting these motor sizes, separate, not shown, sensor means are provided on the electric motor 22, which are connected by means of a communication line, not shown, with the evaluation device.
  • control device 32 can accelerate, decelerate, stop and / or reverse the movement of the door panel 10 by controlling the electric motor 22 such that the required change of movement of the electric motor 22 results.
  • a speed measuring device 40 may be provided, for example in the form of a distance measuring sensor, which, taking into account the time traveled, serves for determining the speed of movement of the at least one door panel 10.
  • This speed measuring device 40 checks whether the desired movement profile of the door panel 10 is actually achieved. In particular, it can also serve as actual value feedback for a - as described below - speed control of the electric motor 22.
  • an angle measuring device 42 may be provided, for example in the form of an angle measuring device or incremental encoder. This angle measuring device 42 can accommodate an angular position of the crank wheel 18 and / or the door drive arm 26. From this angular position conclusions about the position-dependent transmission ratios of the sliding crank drive are possible.
  • the controller 32 further comprises as adaption means a controller 38.
  • the controller 38 for example, using the Wegmesssensors 40 detect deviations of the actual movement speed of a target movement speed and - if the electric motor is present for example in the form of a DC motor - corresponding to the armature current of the electric motor 22nd adjust to move the door panels 10 at the desired speed.
  • controllable DC motor is used in combination with a corresponding DC regulator as the electric motor.
  • the invention can be implemented with a three-phase motor whose speed is controlled by means of a frequency converter.
  • the movement sequence can be controlled path-dependent on the basis of a stored desired movement profile.
  • a precisely controllable movement sequence can be achieved if the speed control by means of a frequency converter in response to the feedback of the currently existing position of a member of the slider crank drive (angle measurement) takes place.
  • one or more of the following components come into consideration as components to be newly installed: the electric motor 22, the control device 32, the evaluation device 36, the regulator 38, the displacement measuring sensor 40 or the angle measuring device 42.
  • the door-field drive described above can be used on the one hand in new elevator cars, but is especially in a modernization of existing elevator cars with push-crank drive advantage.
  • the advantages of the slider crank drive in particular the defined end positions and the simple and inexpensive construction can be maintained and on the other hand, the favorable behavior of a linear drive can be modeled, which allows shortest closing times and opening times at a substantially constant speed of movement of the door panels.
  • the existing push-crank drive not the entire door drive is replaced, but it is modernized the existing push-crank drive with improved control.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Elevator Door Apparatuses (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Description

Die vorliegende Erfindung betrifft eine Aufzugskabine einer Aufzugsanlage und ein Verfahren zum Modernisieren einer Aufzugskabine, insbesondere von deren Türantrieb.The present invention relates to an elevator car of an elevator installation and to a method for modernizing an elevator car, in particular its door drive.

Eine solche Aufzugskabine enthält unter anderem eine Zugangsöffnung, eine Kabinentür zum Verschliessen der Zugangsöffnung, wobei die Kabinentür wenigstens ein parallel zur Zugangsöffnung verschiebbares Türfeld, einen Schubkurbeltrieb zum Bewegen des wenigstens einen Türfelds zwischen einer Offenstellung und einer Geschlossenstellung, einen Elektromotor zum Antreiben des Schubkurbeltriebs und eine Steuervorrichtung zum Ansteuern des Elektromotors aufweist.Such an elevator car includes, inter alia, an access opening, a car door for closing the access opening, wherein the car door at least one sliding parallel to the access door panel, a crank drive for moving the at least one door panel between an open position and a closed position, an electric motor for driving the sliding crank drive and Having control device for driving the electric motor.

Die EP 0 677 475 B1 zeigt ein Verfahren zum Steuern einer Aufzugstür, wobei eine Aufzugstür aus einer Extremstellung in eine andere Extremstellung gebracht wird und Phasen- bzw. Richtungsinformationen, die sich aus dem Bewegungsschritt ergeben, gespeichert werden. Das Bewegen der Aufzugstür erfolgt mit einer konstanten, vorgewählten Geschwindigkeit, während Impulse gezählt werden, die von einem Inkrementalkodierer erzeugt werden.The EP 0 677 475 B1 shows a method of controlling an elevator door, wherein an elevator door is moved from an extreme position to another extreme position and phase information resulting from the movement step is stored. The elevator door is moved at a constant, preselected speed while counting pulses generated by an incremental encoder.

Aus der EP 0 196 675 A1 ist ein Verfahren zur Kraftbegrenzung für automatische Aufzugstüren bekannt. Dabei wird in einem störkraftfreien Betrieb der aufzubringende Antriebskraftverlauf mittels eines mathematischen Modells für den Türantrieb bestimmt und mit dem vom Türantrieb erzeugten Antriebskraftverlauf verglichen. Abweichungen hieraus können zum Stoppen der Türe führen.From the EP 0 196 675 A1 a method for limiting the force of automatic lift doors is known. In this case, in an interference-free operation, the drive force course to be applied is determined by means of a mathematical model for the door drive and compared with the drive force profile generated by the door drive. Deviations from this can lead to the door being stopped.

Die EP 0 383 087 A1 beschreibt eine Aufzugskabine mit einem Aufzugskorb und einer Aufzugstür mit mehreren Türfeldern. Es sind Türantriebsarme vorgesehen, die Teile eines Schubkurbelantriebs sind und über eine Antriebsscheibe durch einen Elektromotor angetrieben werden. JP02204293 offenbart eine Aufzugskabine gemäss dem Oberbegriff des Anspruchs 1. JP 2002302369 offenbart ein Verfahren gemäss dem Oberbegriff des Anspruchs 13.The EP 0 383 087 A1 describes an elevator car with a lift cage and an elevator door with several door panels. There are provided door drive arms, which are parts of a slider crank drive and are driven by a drive pulley by an electric motor. JP02204293 discloses an elevator car according to the preamble of claim 1. JP 2002302369 discloses a method according to the preamble of claim 13.

Es ist eine Aufgabe der vorliegenden Erfindung, eine verbesserte Aufzugskabine mit einer Kabinentüre und einem einen Schubkurbeltrieb umfassenden Türantrieb zu schaffen, bei der die Schliess- bzw. Öffnungszeiten minimiert sind, wobei insbesondere die beim Schliessvorgang in den Türfeldern maximal vorhandene kinetische Energie einen zulässigen Wert nicht überschreitet.It is an object of the present invention to provide an improved elevator car with a car door and a door drive comprising a sliding crank drive in which the closing or opening times are minimized, wherein in particular the maximum kinetic energy present in the door fields during the closing process does not exceed a permissible value exceeds.

Eine weitere Aufgabe der Erfindung besteht darin, ein Verfahren zum Modernisieren einer Aufzugskabine mit einer Kabinentür und einem einen Schubkurbeltrieb umfassenden Türantrieb anzugeben, das zu einer Aufzugskabine mit einem Türantrieb führt, bei dem die Schliess- bzw. Öffnungszeiten minimiert sind, wobei insbesondere die beim Schliessvorgang in den Türfeldern maximal vorhandene kinetische Energie einen zulässigen Wert nicht überschreitet.A further object of the invention is to specify a method for modernizing an elevator car with a car door and a door drive comprising a sliding crank drive, which leads to an elevator car with a door drive, in which the closing or opening times are minimized, in particular those during the closing process in the door fields maximum kinetic energy does not exceed a permissible value.

Ein erster Aspekt der Erfindung betrifft eine Aufzugskabine mit den Merkmalen des Anspruchs 1. Vorteilhafte Weiterbildungen und Ausgestaltungen dieser Erfindung sind Gegenstand der abhängigen Ansprüche 2 bis 12.A first aspect of the invention relates to an elevator car with the features of claim 1. Advantageous developments and refinements of this invention are the subject of the dependent claims 2 to 12.

Die Aufzugskabine weist eine Zugangsöffnung auf, die mit einer Kabinentür verschlossen werden kann. Die Kabinentür weist wenigstens ein parallel zur Zugangsöffnung verschiebbares Türfeld auf. Mit einem Schubkurbeltrieb kann das wenigstens eine Türfeld zwischen einer Offenstellung und einer Geschlossenstellung bewegt werden. Es ist ein Elektromotor zum Antreiben des Schubkurbeltriebs vorgesehen, der mittels einer Steuervorrichtung angesteuert werden kann. Erfindungsgemäss ist die Steuervorrichtung derart ausgebildet, dass sie den Elektromotor derart ansteuern kann, dass die Bewegungsgeschwindigkeit des wenigstens einen Türfeldes über den gesamten Bewegungsweg zwischen der Offenstellung und der Geschlossenstellung des Türfeldes im Wesentlichen konstant ist.The elevator car has an access opening which can be closed with a car door. The cabin door has at least one door panel which can be displaced parallel to the access opening. With a sliding crank drive, the at least one door panel can be moved between an open position and a closed position. There is provided an electric motor for driving the sliding crank drive, which can be controlled by means of a control device. According to the invention, the control device is designed such that it can control the electric motor such that the movement speed of the at least one door panel is substantially constant over the entire movement path between the open position and the closed position of the door panel.

Unter "im Wesentlichen konstant" ist dabei insbesondere zu verstehen, dass die durch die Kinematik des Schubkurbeltriebs bedingten Unregelmässigkeiten in der Bewegung ausgeglichen werden und die Türfelder zumindest nahezu mit gleich bleibender Geschwindigkeit geschlossen bzw. geöffnet werden. Unbeschadet davon bleibt ein gewisses Anfahren bzw. Abbremsen der Türfelder in der Nähe der Extremposition der Türfelder, nämlich den Positionen, in denen die Kabinentür vollständig geschlossen oder vollständig geöffnet ist. Es ist selbstverständlich, dass nahe den Extrempositionen keine konstante Geschwindigkeit herrschen kann, da ein Anhalten stets mit einer über mindestens eine kurze Zeit vorhandenen Geschwindigkeitsveränderung verbunden ist. Ferner kann auch unbeschadet der im Wesentlichen konstanten Geschwindigkeit der Türfelder ein sanftes Anfahren oder Abbremsen der Türfelder vorgesehen sein, ohne dass der Erfindungsgegenstand verlassen wird. Insofern ist unter dem Begriff "gesamter Bewegungsweg" vorzugsweise derjenige Bewegungsweg gemeint, bei dem das Türfeld bereits auf eine Betriebsgeschwindigkeit beschleunigt ist bzw. bevor das Türfeld aus dieser Betriebsgeschwindigkeit wieder abgebremst wird.By "substantially constant" is to be understood in particular that the irregularities caused by the kinematics of the sliding-crank drive are compensated in the movement and the door panels are closed or opened at least almost at the same speed. Notwithstanding this, a certain start-up or deceleration of the door panels remains in the vicinity of the Extreme position of the door panels, namely the positions where the car door is fully closed or fully open. It goes without saying that a constant speed can not prevail close to the extreme positions since stopping is always associated with a speed change that exists over at least a short time. Furthermore, even without prejudice to the substantially constant speed of the door panels, a gentle starting or braking of the door panels can be provided without leaving the subject of the invention. In this respect, the term "total movement path" preferably means that movement path in which the door panel is already accelerated to an operating speed or before the door panel is braked again from this operating speed.

Bei einer konstanten Drehzahl des Elektromotors verursacht die Kinematik des Schubkurbeltriebs einer herkömmlichen Aufzugskabine in Abhängigkeit von der Momentanstellung des Schubkurbeltriebs variierende Übersetzungsverhältnisse, was eine ungleichmässige Bewegung der Türfelder zur Folge hat. Daneben bewirken die wechselnden Übersetzungsverhältnisse trotz konstantem, vom Elektromotor abgegebenem Drehmoment auch Unterschiede in der durch den Schubkurbeltrieb maximal auf die Türfelder ausübbare Betätigungskraft.At a constant speed of the electric motor causes the kinematics of the crank mechanism of a conventional elevator car in response to the instantaneous position of the sliding crank drive varying gear ratios, which has a non-uniform movement of the door panels result. In addition, cause the changing gear ratios despite constant, output by the electric motor torque also differences in the maximum exerted on the door panels by the sliding crank drive force.

Erfindungsgemäss wird nun die ungleichmässige Bewegung durch die erfindungsgemässe Steuerung der Drehzahl des Elektromotors ausgeglichen. In Bereichen von Kurbelarmstellungen, in denen bei konstanter Drehzahl des Elektromotors eine überdurchschnittliche Geschwindigkeit des Türfelds resultieren würde, wird die Drehzahl des Elektromotors reduziert, und in Bereichen von Kurbelarmstellungen, in denen bei konstanter Drehzahl des Elektromotors eine unterdurchschnittliche Geschwindigkeit des Türfelds resultieren würde, wird die Drehzahl des Elektromotors erhöht.According to the invention, the uneven movement is compensated for by the control according to the invention of the rotational speed of the electric motor. In areas of crank arm positions in which constant speed of the electric motor would result in above-average speed of the door panel, the speed of the electric motor is reduced, and in areas of crank arm positions where at a constant speed of the electric motor a below average speed of the door panel would result Speed of the electric motor increased.

Die Aufzugskabine der Erfindung kombiniert in vorteilhafter Weise die Vorteile eines herkömmlichen Schubkurbeltriebs für die Türfelder (d.h. definierte Endlagen, einfacher Aufbau, usw.) mit den Vorteilen einer intelligenten Ansteuerung des Elektromotors, d.h. mit den Vorteilen einer im Wesentlichen konstanten Geschwindigkeit des bewegten Türfelds. Dadurch lassen sich kürzere Schliess- und Öffnungszeiten für die Türfelder erzielen, ohne die maximal zulässige kinetische Energie im bewegten Türfeld zu überschreiten.The elevator car of the invention advantageously combines the advantages of a conventional push-crank drive for the door panels (ie defined end positions, simple construction, etc.) with the advantages of intelligent control of the electric motor, ie with the advantages of a substantially constant speed of the moving door panel. This allows shorter closing and opening times for the door panels can be achieved without the maximum allowable kinetic Passing energy in the moving doorway.

Bei einer der Ausführungsformen der Erfindung ist die Steuervorrichtung so ausgebildet, dass sie den Elektromotor derart ansteuern kann, dass die vom Schubkurbeltrieb auf das wenigstens eine Türfeld maximal ausübbare Betätigungskraft über den gesamten Bewegungsweg zwischen der Offenstellung und der Geschlossenstellung des Türfeldes im Wesentlichen konstant ist. In Bereichen von Kurbelarmstellungen, in denen bei konstantem vom Elektromotor abgegebenem Drehmoment eine zu hohe maximal ausübbare Betätigungskraft auf das Türfeld resultieren würde, wird das maximal erzeugbare Drehmoment des Elektromotors unter Berücksichtigung der momentan gegebenen kinematischen Verhältnisse reduziert. Desgleichen wird in Bereichen von Kurbelarmstellungen, in denen bei konstantem vom Elektromotor abgegebenem Drehmoment des Elektromotors eine zu geringe maximal ausübbare Betätigungskraft resultieren würde, das maximal erzeugbare Drehmoment des Elektromotors unter Berücksichtigung der momentan gegebenen kinematischen Verhältnisse erhöht. Damit wird gewährleistet, dass in keiner Stellung des Schubkurbeltriebs eine unzulässig hohe Betätigungskraft auf das Türfeld ausgeübt werden kann, so dass vom schliessenden Türfeld eingeklemmte Passagiere nicht verletzt werden.In one of the embodiments of the invention, the control device is designed so that it can control the electric motor such that the maximum exerted by the sliding crank drive on the at least one door panel actuation force over the entire path of movement between the open position and the closed position of the door panel is substantially constant. In areas of Kurbelarmstellungen in which at constant output from the electric motor torque too high maximum exerted actuation force would result on the door panel, the maximum producible torque of the electric motor is reduced taking into account the currently given kinematic conditions. Likewise, in regions of crank arm positions in which, given a constant torque output by the electric motor of the electric motor, an excessively low actuation force would result, the maximum producible torque of the electric motor increases, taking into account the currently given kinematic conditions. This ensures that in any position of the sliding crank drive an impermissibly high actuation force can be exerted on the door panel, so that passengers trapped by the closing door panel are not injured.

Bei einer weiteren Ausführungsform der Erfindung weist die Steuervorrichtung eine Speichereinrichtung zum Speichern eines vorbestimmten Drehzahlverlaufs für den Elektromotor über den gesamten Bewegungsweg zwischen der Offenstellung und der Geschlossenstellung des Türfeldes auf. Der vorbestimmte Drehzahlverlauf bewirkt dann in Verbindung mit der wechselnden Übersetzung des Schubkurbeltriebs eine im Wesentlichen konstante Bewegungsgeschwindigkeit des wenigstens einen Türfeldes über dessen gesamten Bewegungsweg.In a further embodiment of the invention, the control device has a memory device for storing a predetermined speed curve for the electric motor over the entire movement path between the open position and the closed position of the door panel. The predetermined speed curve then causes in conjunction with the changing ratio of the sliding crank drive a substantially constant speed of movement of the at least one door panel over its entire path of movement.

Alternativ oder in Kombination zur vorstehend beschriebenen Ausführungsform kann die Speichereinrichtung auch zum Speichern der von der Stellung des Schubkurbeltriebs abhängig variierenden Übersetzungsverhältnisse des Schubkurbeltriebs über den gesamten Bewegungsweg des Türfeldes ausgebildet sein. Bei Kenntnis des jeder Stellung des Schubkurbeltriebs zugeordneten Übersetzungsverhältnisses kann zum Erreichen einer gewünschten Bewegungsgeschwindigkeit des Türfeldes für jede Momentanstellung des Schubkurbeltriebs die erforderliche Drehzahl des Elektromotors errechnet werden. Dies gilt analog für die auf das Türfeld maximal ausübbare Betätigungskraft. Eine gewünschte maximal ausübbare Betätigungskraft kann bei Kenntnis der jeweils einer Momentanstellung des Schubkurbeltriebs - bzw. einer Position des Bewegungswegs - zugeordneten Übersetzungsverhältnisse in jeweils einer Momentanstellung zugeordnete maximal zulässige Motorantriebsmomente umgerechnet werden.Alternatively or in combination with the embodiment described above, the storage device may also be designed to store the transmission ratios of the sliding crank drive which vary as a function of the position of the sliding crank drive over the entire movement path of the door panel. With knowledge of each position of the sliding crank gear associated transmission ratio can be to achieve a desired Movement speed of the door panel for each instantaneous position of the sliding-crank drive the required speed of the electric motor can be calculated. This applies analogously to the maximum exercisable on the door panel operating force. A desired maximum exertable actuation force can be converted into knowledge of each of a momentary position of the sliding crank drive - or a position of the movement path - associated gear ratios in each case a momentary adjustment associated maximum permissible motor drive torque.

In einer weiteren Ausgestaltung der Erfindung kann ferner eine Auswerteeinrichtung vorgesehen sein, die eine Abweichung zwischen einer tatsächlichen Motorgrösse und einer für den vorbestimmten Drehzahlverlauf erforderlichen Motorgrösse erfassen kann. Unter einer Motorgrösse sind dabei insbesondere Zustandsgrössen des Motors gemeint, die auf eine Drehzahl oder ein Motorantriebsmoment hinweisen können. Eine derartige Motorgrösse kann, beispielsweise bei einem Gleichstromantrieb, für den Drehzahlverlauf der Verlauf der Ankerspannung sein; für den Verlauf des Drehmoments kann dies insbesondere der Verlauf des Ankerstroms sein.In a further embodiment of the invention, an evaluation device can also be provided, which can detect a deviation between an actual engine size and an engine size required for the predetermined speed curve. By an engine size are meant in particular state variables of the engine, which may indicate a speed or a motor drive torque. Such a motor size can be, for example in a DC drive, for the speed curve of the course of the armature voltage; for the course of the torque, this can be in particular the course of the armature current.

Vorzugsweise ist die Steuervorrichtung dabei derart ausgebildet, dass bei einer erfassten Abweichung einer bestimmten Grösse, insbesondere einer Zustandsgrösse des Motors, die Bewegung des Türfeldes gestoppt oder umgekehrt wird. Dies kann insbesondere dann von Vorteil sein, wenn die Bewegung des Türfeldes durch ein Hindernis blockiert wird, beispielsweise eine Person, die durch das Türfeld eingeklemmt wird. Dabei kann sich das Türfeld - wenn überhaupt - nur noch langsam weiterbewegen. Aufgrund des Blockierens und der zum Erhalt der Drehzahl notwendigen Drehmomenterhöhung steigt zum Beispiel bei einem Gleichstromantrieb die Ankerstromstärke an, was durch die Auswerteeinrichtung erkannt werden kann. Unter Beachtung gegebenenfalls weiterer Parameter kann die Tür dann gestoppt werden und/oder in entgegen gesetzter Richtung beschleunigt werden, um ein Wiederöffnen des Türfeldes oder Freigeben einer eingeklemmten Person zu ermöglichen.Preferably, the control device is designed such that when a detected deviation of a certain size, in particular a state variable of the motor, the movement of the door panel is stopped or vice versa. This may be particularly advantageous if the movement of the door panel is blocked by an obstacle, such as a person who is trapped by the door panel. At the same time, the door panel can only continue to move slowly, if at all. Due to the blocking and the torque increase necessary to maintain the rotational speed, the armature current strength increases, for example, in the case of a DC drive, which can be detected by the evaluation device. Taking into consideration, if necessary, further parameters, the door can then be stopped and / or accelerated in the opposite direction to allow reopening of the door panel or release of a trapped person.

Bei einer weiteren Ausführungsform der Erfindung ist eine Geschwindigkeitsmesseinrichtung zum Erfassen einer Bewegungsgeschwindigkeit des wenigstens einen Türfeldes vorgesehen. Eine derartige Geschwindigkeitsmesseinrichtung kann zum Beispiel einen Wegmesssensor umfassen, welcher eine Wegänderung aufnehmen kann. Unter Berücksichtung der dabei benötigten Zeiteinheit kann die Bewegungsgeschwindigkeit zumindest in einem Abschnitt des Bewegungsweges ermittelt werden. Ferner kann eine solche Geschwindigkeitsmesseinrichtung auch durch einen Beschleunigungssensor gebildet sein. Durch Integralbildung eines ermittelten Beschleunigungsverlaufs über einer Zeiteinheit kann auf die aktuelle Bewegungsgeschwindigkeit insbesondere eines Türfeldes geschlossen werden.In a further embodiment of the invention is a speed measuring device for detecting a movement speed the at least one door panel provided. Such a speed measuring device may, for example, comprise a position measuring sensor which can record a path change. Taking into account the time unit required thereby, the movement speed can be determined at least in a section of the movement path. Furthermore, such a speed measuring device can also be formed by an acceleration sensor. By integrally forming a determined acceleration curve over a unit of time can be concluded that the current movement speed, in particular a door panel.

In diesem Fall weist die Steuervorrichtung vorzugsweise ferner eine Adaptionseinrichtung zum Anpassen des vorbestimmten Drehzahlverlaufs für den Elektromotor während des Betriebs der Aufzugskabine anhand der erfassten Bewegungsgeschwindigkeit des wenigstens einen Türfeldes auf. Die Adaptionseinrichtung dient insbesondere dazu, dass der Drehzahlverlauf, welcher vorbestimmt ist, auch tatsächlich eingehalten wird. Hierzu kann die Adaptionseinrichtung Zustandsgrössen des Elektromotors, wie beispielsweise die Ankerstromstärke, verändern.In this case, the control device preferably further comprises an adaptation device for adapting the predetermined speed profile for the electric motor during operation of the elevator car on the basis of the detected movement speed of the at least one door panel. The adaptation device serves, in particular, to ensure that the speed curve, which is predetermined, is actually maintained. For this purpose, the adaptation device can change state variables of the electric motor, such as, for example, the armature current intensity.

Bei einer weiteren Ausführungsform der Erfindung ist eine Winkelmesseinrichtung zum Erfassen zumindest einer Winkellage zumindest einer Komponente des Schubkurbeltriebs vorgesehen. Eine Komponente des Schubkurbeltriebs kann insbesondere ein Kurbelrad, ein Verbindungsarm oder ein Türantriebsarm sein. Die Winkellage kann dabei eine absolute Winkellage der entsprechenden Komponente gegenüber der Vertikalen oder der Horizontalen sein. Die Winkellage kann aber auch die relative Winkellage einer Komponente gegenüber einem anderen Bauteil der Aufzugskabine, insbesondere einer anderen Komponente des Schubkurbeltriebs, insbesondere des jeweils anderen Arms sein. Es ist vorteilhaft, wenn - wie vorstehend beschrieben - über die Winkellage Rückschlüsse auf die von der Momentanstellung des Schubkurbeltriebes abhängige Übersetzung des Schubkurbeltriebes möglich sind. Aus dieser Übersetzung kann auf die notwendige Motordrehzahl oder auf das zulässige Motordrehmoment geschlossen werden.In a further embodiment of the invention, an angle measuring device is provided for detecting at least one angular position of at least one component of the sliding-crank drive. One component of the slider-crank drive may in particular be a crank wheel, a connecting arm or a door drive arm. The angular position can be an absolute angular position of the corresponding component with respect to the vertical or the horizontal. However, the angular position can also be the relative angular position of one component relative to another component of the elevator car, in particular another component of the sliding crank drive, in particular the respective other arm. It is advantageous if - as described above - conclusions about the angular position of the momentary adjustment of the sliding crank drive dependent translation of the crank drive are possible. From this translation can be concluded that the necessary engine speed or the permissible engine torque.

Vorzugsweise ist die Steuervorrichtung dabei derart ausgebildet, dass eine Regelung des Motordrehmoments und/oder der Motordrehzahl des Elektromotors in Abhängigkeit von der durch die Winkelmesseinrichtung erfassten Winkellage vorgesehen wird. Die Winkellage stellt damit eine Eingangsgrösse der Regelung der Motordrehzahl und/oder des maximal zulässigen Motordrehmoments dar. Die Steuervorrichtung übernimmt dann streng genommen die Aufgaben einer Regelvorrichtung.Preferably, the control device is designed such that a regulation of the engine torque and / or the engine speed of the electric motor is provided in dependence on the angular position detected by the angle measuring device. The angular position thus represents an input variable of the regulation of the engine speed and / or the maximum permissible engine torque. The control device then strictly assumes the tasks of a control device.

In einer weiteren Ausgestaltung der Erfindung kann die Steuereinrichtung eine programmierbare Steuervorrichtung sein. Dabei kann die Steuervorrichtung mit einem Algorithmus programmierbar sein, der bei der Bestimmung der momentanen Motordrehzahl und/oder des momentanen Motordrehmoments des Elektromotors die Kinematik des Schubkurbeltriebs derart berücksichtigen kann, dass insbesondere eine konstante Geschwindigkeit des Türfelds resultiert und/oder die am Türfeld maximal ausübbare Schliesskraft während des gesamten Schliess- bzw. Öffnungswegs konstant bleibt.In a further embodiment of the invention, the control device may be a programmable control device. In this case, the control device can be programmed with an algorithm which can take into account the kinematics of the sliding-crank drive in determining the instantaneous engine speed and / or the instantaneous engine torque of the electric motor such that, in particular, a constant speed of the door panel results and / or the closing force which can be exerted on the door panel remains constant throughout the closing or opening path.

Vorzugsweise ist zwischen dem Elektromotor und dem Schubkurbeltrieb ein Untersetzungsgetriebe angeordnet. Das Untersetzungsgetriebe ermöglicht die Verwendung eines Elektromotors mit zweckmässiger, handelsüblicher Nenndrehzahl.Preferably, a reduction gear is arranged between the electric motor and the slider crank drive. The reduction gear allows the use of an electric motor with appropriate, commercial rated speed.

Gemäss einem zweiten Aspekt der Erfindung wird die vorstehend genannte Aufgabe durch ein Verfahren zum Modernisieren einer Aufzugskabine mit den Merkmalen des Anspruchs 13 gelöst. Vorteilhafte Weiterbildungen und Ausgestaltungen dieses Verfahrens sind in den abhängigen Ansprüche 14 bis 17 angegeben.According to a second aspect of the invention, the above object is achieved by a method for modernizing an elevator car with the features of claim 13. Advantageous developments and refinements of this method are specified in the dependent claims 14 to 17.

Beim Modernisieren bzw. Nachrüsten einer Aufzugskabine mit einer Zugangsöffnung, einer Kabinentür mit wenigstens einem parallel zur Zugangsöffnung verschiebbaren Türfeld zum Verschliessen der Zugangsöffnung, einem Schubkurbeltrieb zum Bewegen des wenigstens einen Türfeldes zwischen einer Offenstellung und einer Geschlossenstellung sowie einem Elektromotor zum Antreiben des Schubkurbeltriebs, wird eine vorhandene Steuervorrichtung zum Ansteuern des Elektromotors ausgebaut und durch eine Steuervorrichtung ersetzt, die derart ausgebildet ist, dass sie den Elektromotor so ansteuern kann, dass eine Bewegungsgeschwindigkeit des wenigstens einen Türfeldes über den gesamten Bewegungsweg zwischen einer Offenstellung und einer Geschlossenstellung des Türfeldes im Wesentlichen konstant ist, und/oder, dass eine vom Schubkurbeltrieb auf das wenigstens eine Türfeld maximal ausübbare Betätigungskraft über den gesamten Bewegungsweg zwischen der Offenstellung und der Geschlossenstellung des Türfeldes im Wesentlichen konstant ist.When modernizing or retrofitting an elevator car with an access opening, a car door with at least one sliding parallel to the access door panel to close the access opening, a sliding crank to move the at least one door panel between an open position and a closed position and an electric motor for driving the sliding crank drive, a removed existing control device for driving the electric motor and replaced by a control device, which is designed such that it can control the electric motor so that a movement speed of the at least one door panel over the entire movement path between an open position and a closed position of the door panel is substantially constant, and / or that of the sliding crank drive on the at least one door panel maximally exercisable actuating force over the entire path of movement between the open position and the closed position of the door panel is substantially constant.

Die Vorteile eines derart modernisierten Türantriebs einer Aufzugskabine wurden bereits oben erläutert.The advantages of such a modernized door drive of an elevator car have already been explained above.

Nach einer der Ausführungsformen der Erfindung ist vorgesehen, dass ein vorhandener Elektromotor ausgebaut wird und ein neuer Elektromotor eingebaut wird. Ein neuer Elektromotor kann erforderlich sein, um ein einwandfreies Zusammenwirken zwischen der neu eingebauten Steuervorrichtung und dem Elektromotor zu gewährleisten. Die Steuervorrichtung kann beispielsweise einen Frequenzumrichter oder eine Gleichstrom-Regeleinrichtung zur Steuerung bzw. Regelung der Drehzahl und/oder des Drehmoments des Elektromotors umfassen.According to one embodiment of the invention, it is provided that an existing electric motor is removed and a new electric motor is installed. A new electric motor may be required to ensure proper interaction between the newly installed control device and the electric motor. The control device may comprise, for example, a frequency converter or a DC control device for controlling the speed and / or the torque of the electric motor.

In einer weiteren Ausgestaltung der Erfindung wird im Zuge der Modernisierung vorzugsweise auch eine Geschwindigkeitsmesseinrichtung zum Erfassen einer Bewegungsgeschwindigkeit wenigstens eines Türfelds eingebaut.In a further embodiment of the invention, a speed measuring device for detecting a movement speed of at least one door panel is preferably installed in the course of the modernization.

Alternativ oder in Kombination zur Geschwindigkeitsmesseinrichtung kann vorzugsweise eine Winkelmesseinrichtung zum Erfassen zumindest einer Winkellage zumindest einer Komponente des Schubkurbeltriebs eingebaut werden.Alternatively or in combination with the speed measuring device, an angle measuring device for detecting at least one angular position of at least one component of the sliding-crank drive can preferably be installed.

Obige sowie weitere Merkmale, Vorteile und Anwendungsmöglichkeiten der Erfindung werden aus der nachfolgenden Beschreibung eines bevorzugten, nicht einschränkenden Ausführungsbeispiels unter Bezugnahme auf die beiliegende Zeichnung näher erläutert.

Fig. 1
zeigt eine Aufzugskabine eines Aufzugs mit einem Mechanismus zum Öffnen und Verschliessen einer Kabinentür in schematischer Darstellung
The above and other features, advantages and applications of the invention will become apparent from the following description of a preferred, non-limiting embodiment with reference to the accompanying drawings.
Fig. 1
shows an elevator car of an elevator with a mechanism for opening and closing a car door in a schematic representation

In Fig. 1 ist auszugsweise und vereinfacht eine Aufzugskabine 1 mit einer Zugangsöffnung 11 gezeigt. Die Zugangsöffnung 11 wird durch eine Kabinentür verschlossen. Die Kabinentür weist zwei Türfelder 10 auf, welche parallel zur Zugangsöffnung 11 durch einen Türantrieb 15 verschiebbar sind. Dabei sind die Türfelder 10 an einer Türaufhängung 12 so über Laufrollen aufgehängt, dass sie axial entlang einer Führungsschiene 14 verschiebbar sind. Die Führungsschiene 14 ist fest an einer Tragplatte 16 der Aufzugskabine angeordnet.In Fig. 1 is extracts and simplifies an elevator car 1 with an access opening 11 shown. The access opening 11 is closed by a car door. The car door has two door panels 10, which are displaceable parallel to the access opening 11 by a door drive 15. In this case, the door panels 10 are hung on a door hanger 12 so over rollers that they are axially displaceable along a guide rail 14. The guide rail 14 is fixedly arranged on a support plate 16 of the elevator car.

Der Türantrieb 15 ist im Wesentlichen auf der Tragplatte 16 angeordnet und umfasst einen Elektromotor 22 sowie einen Schubkurbeltrieb. Der Schubkurbeltrieb umfasst im Wesentlichen ein Kurbelrad 18 sowie für jedes der beiden Türfelder 10 je einen Verbindungsarm 24, einen Türantriebsarm 26 und einen Kopplungshebel 28. Der Elektromotor 22 wird durch eine Steuervorrichtung 32 angesteuert und treibt das Kurbelrad 18 des Schubkurbeltriebs unter Zwischenschaltung eines Untersetzungsgetriebes 20 so an, dass das Kurbelrad jeweils eine halbe Drehung, abwechselnd im Gegenuhrzeigersinn und im Uhrzeigersinn, ausführt. Dabei ist eine grössere Riemenscheibe einer Doppelriemenscheibe 20.1 des Untersetzungsgetriebes 20 mittels eines ersten Riemens 23.1 mit einer Riemenscheibe 22.1 des Elektromotors 22 gekoppelt. Das Kurbelrad 18 ist mittels eines zweiten Riemens 23.2 mit einer kleineren Riemenscheibe der Doppelriemenscheibe 20.1 des Untersetzungsgetriebes 20 gekoppelt.The door drive 15 is arranged substantially on the support plate 16 and comprises an electric motor 22 and a sliding crank drive. The slider-crank drive essentially comprises a crank wheel 18 and, for each of the two door panels 10, a connecting arm 24, a door drive arm 26 and a coupling lever 28. The electric motor 22 is actuated by a control device 32 and drives the crank wheel 18 of the slider-crank drive with the interposition of a reduction gear 20 that the crank wheel turns half a turn, alternately counterclockwise and clockwise. In this case, a larger pulley of a double-pulley 20.1 of the reduction gear 20 is coupled by means of a first belt 23.1 with a pulley 22.1 of the electric motor 22. The crank wheel 18 is coupled by means of a second belt 23.2 with a smaller pulley of the double-pulley 20.1 of the reduction gear 20.

Im Folgenden ist die Wirkungsweise des Schubkurbeltriebs beschrieben, wobei sich die Beschreibung nur auf die Seite des Schubkurbeltriebs bezieht, die dem links dargestellten Türfeld zugeordnet ist.In the following, the operation of the sliding crank drive is described, wherein the description refers only to the side of the sliding crank drive, which is assigned to the door panel shown on the left.

Der Verbindungsarm 24 des Schubkurbeltriebs ist an seinem ersten Ende gelenkig auf dem Kurbelrad 18 gelagert. Eine halbe Drehung des Kurbelrads 18 bewirkt im Wesentlichen ein horizontales Verschieben des Verbindungsarms 24. Der Schubkurbeltrieb umfasst ferner einen Türantriebsarm 26, welcher relativ ortsfest, aber drehbar um eine Drehachse 30 auf der Tragplatte 16 gelagert ist. Die Drehachse 30 des Türantriebsarms 26 ist zwischen dessen erstem Ende und dessen zweitem Ende angeordnet. An seinem oberen Ende ist der Türantriebsarm 26 mit einem zweiten Ende des Verbindungsarms 24 gelenkig verbunden. Ein unteres Ende des Türantriebsarms 26 ist gelenkig mit einem ersten Ende eines Kopplungshebels 28 verbunden, dessen zweites Ende schwenkbar auf einem Türfeld 10 gelagert ist. Eine Drehbewegung der Abtriebswelle des Elektromotors 22 bewirkt über dessen Riemenscheibe 22.1 und den ersten Riemen 23.1 eine Drehbewegung der Doppelriemenscheibe 20.1 des Untersetzungsgetriebes 20. Über die kleinere Riemenscheibe der Doppelriemenscheibe 20.1 und den zweiten Riemen 23.2 wird eine verlangsamte, aber mit höherem Drehmoment versehene Drehbewegung des Kurbelrads 18 erzeugt. In der in Fig. 1 gezeigten Situation der Komponenten des Schubkurbeltriebs bewirkt eine Verdrehung des Kurbelrads 18 im Gegenuhrzeigersinn ein Verschieben des Verbindungsarms 24 nach rechts. Dies hat zur Folge, dass der mit dem Verbindungsarm 24 antriebsverbundene Türantriebsarm 26 eine Bewegung im Uhrzeigersinn um die Drehachse 30 vollzieht. Dies bewirkt eine Bewegung des unteren Endes des Türantriebsarms 26 nach links, wodurch, übertragen durch den Kopplungshebel 28, das Türfeld 10 ebenfalls nach links bewegt, d. h., in Offenstellung gebracht wird. Es ist ersichtlich, dass aufgrund des grösseren Abstandes des zweiten Endes des Türantriebsarms 26 zur Drehachse 30 gegenüber dem Abstand des ersten Endes des Türantriebsarms 26 zur Drehachse 30 die vom Verbindungsarm 24 vollzogene Bewegung nach rechts vergrössert wird, so dass das Türfeld weiter nach links bewegt wird, als der Verbindungsarm 24 nach rechts bewegt wird.The connecting arm 24 of the sliding crank drive is articulated on the crank wheel 18 at its first end. Half a rotation of the crank wheel 18 substantially causes a horizontal displacement of the connecting arm 24. The slider crank drive further comprises a door drive arm 26, which is mounted relatively stationary, but rotatable about an axis of rotation 30 on the support plate 16. The axis of rotation 30 of the door drive arm 26 is disposed between the first end and the second end thereof. At its upper end of the door drive arm 26 with a second end of the connecting arm 24 hingedly connected. A lower end of the door drive arm 26 is pivotally connected to a first end of a coupling lever 28, whose second end is pivotally mounted on a door panel 10. A rotational movement of the output shaft of the electric motor 22 causes via the pulley 22.1 and the first belt 23.1 a rotational movement of the double pulley 20.1 of the reduction gear 20. About the smaller pulley of the double pulley 20.1 and the second belt 23.2 is a slowed, but provided with higher torque rotational movement of the crank wheel 18 generated. In the in Fig. 1 shown situation of the components of the sliding crank drive causes a rotation of the crank wheel 18 in the counterclockwise direction, a displacement of the connecting arm 24 to the right. As a result, the door drive arm 26, which is drive-connected to the connecting arm 24, makes a clockwise movement about the axis of rotation 30. This causes a movement of the lower end of the door drive arm 26 to the left, whereby, transmitted by the coupling lever 28, the door panel 10 is also moved to the left, that is, brought into the open position. It can be seen that due to the greater distance of the second end of the Türantriebsarms 26 to the axis of rotation 30 relative to the distance of the first end of the Türantriebsarms 26 to the axis of rotation 30, the completed by the connecting arm 24 movement is increased to the right, so that the door panel is moved further to the left as the connecting arm 24 is moved to the right.

Es ist auch ersichtlich, dass ein gleichmässiges Verdrehen der Abtriebswelle des Elektromotors 22 eine nicht lineare Bewegung des Türfeldes 10 zur Folge hat, wobei die Nichtlinearität durch die von der Momentanstellung des Schubkurbeltriebs abhängig variierenden Übersetzungsverhältnisse des Schubkurbeltriebs bedingt ist. Um dennoch die Bewegungsgeschwindigkeit des Türfeldes 10 über den gesamten Bewegungsweg zwischen der Geschlossenstellung und der Offenstellung im Wesentlichen konstant zu halten, ist eine Steuervorrichtung 32 vorgesehen, welche den Elektromotor 22 derart ansteuert, dass die gewünschte konstante Bewegungsgeschwindigkeit des Türfelds 10 erreicht wird.It can also be seen that a uniform rotation of the output shaft of the electric motor 22 results in a non-linear movement of the door panel 10, wherein the non-linearity is due to the ratio of the thrust crank mechanism depending on the momentary adjustment of the sliding crank drive. In order nevertheless to keep the movement speed of the door panel 10 substantially constant over the entire movement path between the closed position and the open position, a control device 32 is provided which controls the electric motor 22 in such a way that the desired constant movement speed of the door panel 10 is achieved.

Zu diesem Zweck gibt die Steuervorrichtung 32 einen Drehzahlsollwert aus, der sich im Verlauf der Bewegung des Türfeldes ändert und der so ausgebildet ist, dass eine im Wesentlichen konstante Bewegungsgeschwindigkeit über den gesamten Bewegungsweg des Türfeldes 10 sichergestellt ist. Dazu weist die Steuervorrichtung zum Beispiel eine Speichereinrichtung 34 auf, in der ein Drehzahlverlauf für den Elektromotor abgespeichert ist. Dieser abgespeicherte und vorbestimmte Drehzahlverlauf bewirkt, übertragen durch den Schubkurbeltrieb und das Untersetzungsgetriebe, eine im Wesentlichen konstante Bewegung des Türfeldes.For this purpose, the control device 32 outputs a speed command value, which changes in the course of the movement of the door panel and which is formed so that a substantially constant speed of movement over the entire path of movement of the door panel 10 is ensured. For this purpose, the control device has, for example, a memory device 34, in which a speed curve for the electric motor is stored. This stored and predetermined speed curve causes, transmitted by the thrust crank mechanism and the reduction gear, a substantially constant movement of the door panel.

Falls der Elektromotor beispielsweise als Gleichstrommotor ausgeführt ist, kann die Steuervorrichtung 32 eine Auswerteeinrichtung 36 aufweisen, welche beispielsweise Abweichungen der am Elektromotor 22 anliegenden Ankerspannung bzw. der Ankerstromstärke von einem vorgegebenen oder optimalen Sollwert ermittelt. Zur Erfassung dieser Motorgrössen sind separate, nicht dargestellte Sensormittel am Elektromotor 22 vorgesehen, die mittels einer nicht dargestellten Kommunikationsleitung mit der Auswerteeinrichtung verbunden sind.If the electric motor is designed, for example, as a DC motor, the control device 32 may have an evaluation device 36, which determines, for example, deviations of the armature voltage applied to the electric motor 22 and the armature current intensity from a predetermined or optimum setpoint value. For detecting these motor sizes, separate, not shown, sensor means are provided on the electric motor 22, which are connected by means of a communication line, not shown, with the evaluation device.

Wenn von der Auswerteeinrichtung 36 bestimmte Abweichungen festgestellt wurden, kann die Steuervorrichtung 32 die Bewegung des Türfeldes 10 beschleunigen, verzögern, stoppen und/oder umkehren, indem sie den Elektromotor 22 so ansteuert, dass die erforderliche Bewegungsänderung des Elektromotors 22 resultiert.If certain deviations have been detected by the evaluation device 36, the control device 32 can accelerate, decelerate, stop and / or reverse the movement of the door panel 10 by controlling the electric motor 22 such that the required change of movement of the electric motor 22 results.

Ferner kann eine Geschwindigkeitsmesseinrichtung 40 vorgesehen sein, beispielsweise in Form eines Wegmesssensors, welcher unter Berücksichtigung der zurückgelegten Zeit zur Ermittlung der Bewegungsgeschwindigkeit des wenigstens einen Türfeldes 10 dient. Diese Geschwindigkeitsmesseinrichtung 40 überprüft, ob tatsächlich das gewünschte Bewegungsprofil des Türfeldes 10 erreicht wird. Sie kann insbesondere auch als Istwertrückführung für eine - weiter unten beschriebene - Drehzahlregelung des Elektromotors 22 dienen.Furthermore, a speed measuring device 40 may be provided, for example in the form of a distance measuring sensor, which, taking into account the time traveled, serves for determining the speed of movement of the at least one door panel 10. This speed measuring device 40 checks whether the desired movement profile of the door panel 10 is actually achieved. In particular, it can also serve as actual value feedback for a - as described below - speed control of the electric motor 22.

Ausserdem kann (zusätzlich oder alternativ zur Geschwindigkeitsmesseinrichtung 40) eine Winkelmesseinrichtung 42 vorgesehen sein, beispielsweise in Form eines Winkelmessgeräts oder Inkrementalkodierers. Diese Winkelmesseinrichtung 42 kann eine Winkellage des Kurbelrades 18 und/oder des Türantriebsarms 26 aufnehmen. Aus dieser Winkellage sind Rückschlüsse auf die stellungsabhängig vorliegenden Übersetzungsverhältnisse des Schubkurbeltriebs möglich.In addition, (in addition to or as an alternative to the speed measuring device 40), an angle measuring device 42 may be provided, for example in the form of an angle measuring device or incremental encoder. This angle measuring device 42 can accommodate an angular position of the crank wheel 18 and / or the door drive arm 26. From this angular position conclusions about the position-dependent transmission ratios of the sliding crank drive are possible.

Die Steuervorrichtung 32 umfasst ferner als Adaptionseinrichtung einen Regler 38. Der Regler 38 kann beispielsweise mit Hilfe des Wegmesssensors 40 Abweichungen der tatsächlichen Bewegungsgeschwindigkeit von einer Soll-Bewegungsgeschwindigkeit feststellen und - falls der Elektromotor beispielsweise in Form eines Gleichstrommotors vorhanden ist - entsprechend die Ankerstromstärke des Elektromotors 22 anpassen, um die Türfelder 10 mit der gewünschten Geschwindigkeit zu bewegen.The controller 32 further comprises as adaption means a controller 38. The controller 38, for example, using the Wegmesssensors 40 detect deviations of the actual movement speed of a target movement speed and - if the electric motor is present for example in the form of a DC motor - corresponding to the armature current of the electric motor 22nd adjust to move the door panels 10 at the desired speed.

Die vorstehende Beschreibung geht davon aus, dass als Elektromotor ein regelbarer Gleichstrommotor in Kombination mit einem entsprechenden Gleichstrom-Regelgerät verwendet wird. Ebenso zweckmässig lässt sich die Erfindung mit einem Drehstrommotor realisieren, dessen Drehzahl mit Hilfe eines Frequenzumrichters gesteuert wird. Dabei kann der Bewegungsablauf beispielsweise wegabhängig aufgrund eines gespeicherten Soll-Bewegungsprofils gesteuert werden. Ein präzise steuerbarer Bewegungsablauf ist erreichbar, wenn die Drehzahlsteuerung mittels eines Frequenzumrichters in Abhängigkeit von der Rückmeldung der momentan vorhandenen Stellung eines Glieds des Schubkurbeltriebs (Winkelmessung) erfolgt.The above description assumes that a controllable DC motor is used in combination with a corresponding DC regulator as the electric motor. Equally expedient, the invention can be implemented with a three-phase motor whose speed is controlled by means of a frequency converter. In this case, for example, the movement sequence can be controlled path-dependent on the basis of a stored desired movement profile. A precisely controllable movement sequence can be achieved if the speed control by means of a frequency converter in response to the feedback of the currently existing position of a member of the slider crank drive (angle measurement) takes place.

Zur Modernisierung einer Aufzugskabine können einzelne Komponenten der zu modernisierenden Kabine ausgebaut und durch Bauteile ersetzt werden, die im Rahmen der obigen Beschreibung genannt wurden. Es können im Rahmen der Modernisierung auch einzelne Bauteile eingebaut werden, ohne dass zuvor entsprechende Bauteile ausgebaut wurden.To modernize an elevator car, individual components of the cabin to be modernized can be removed and replaced by components that have been mentioned in the above description. As part of the modernization, it is also possible to install individual components without having previously removed corresponding components.

Als neu einzubauende Bauteile kommen insbesondere ein oder mehrere der folgenden Bauteile in Betracht: der Elektromotor 22, die Steuervorrichtung 32, die Auswerteeinrichtung 36, der Regler 38, der Wegmesssensor 40 oder das Winkelmessgerät 42.In particular, one or more of the following components come into consideration as components to be newly installed: the electric motor 22, the control device 32, the evaluation device 36, the regulator 38, the displacement measuring sensor 40 or the angle measuring device 42.

Der oben beschriebene Türfeldantrieb kann einerseits bei neuen Aufzugskabinen zur Anwendung kommen, ist aber insbesondere bei einer Modernisierung bestehender Aufzugskabinen mit Schubkurbeltrieb von Vorteil. Im Fall der Modernisierung können die Vorteile des Schubkurbeltriebs wie insbesondere die definierten Endlagen und der einfache und kostengünstige Aufbau beibehalten werden und andererseits das günstige Verhalten eines Linearantriebs nachgebildet werden, der kürzeste Schliesszeiten und Öffnungszeiten bei im Wesentlichen konstanter Bewegungsgeschwindigkeit der Türfelder ermöglicht. Mit anderen Worten wird bei einer bestehenden Aufzugskabine mit einem herkömmlichen Schubkurbeltrieb nicht der komplette Türantrieb ausgetauscht, sondern es wird der bestehende Schubkurbeltrieb mit einer verbesserten Ansteuerung modernisiert.The door-field drive described above can be used on the one hand in new elevator cars, but is especially in a modernization of existing elevator cars with push-crank drive advantage. In the case of modernization, the advantages of the slider crank drive, in particular the defined end positions and the simple and inexpensive construction can be maintained and on the other hand, the favorable behavior of a linear drive can be modeled, which allows shortest closing times and opening times at a substantially constant speed of movement of the door panels. In other words, in an existing elevator car with a conventional push-crank drive not the entire door drive is replaced, but it is modernized the existing push-crank drive with improved control.

Claims (17)

  1. Lift cage with an access opening (11); a cage door for closing the access opening the cage door having at least one door panel (10) displaceable parallel to the access opening; a thrust crank drive (18, 24 - 30) for moving the at least one door panel (10) between an open setting and a closed setting; an electric motor (22) for driving the thrust crank drive; and a control device (32) for activating the electric motor, characterised in that the control device (32) is so constructed that it can activate the electric motor (22) in such a manner that a movement speed of the at least one door panel (10) is substantially constant over an entire movement path between the open setting and the closed setting of the door panel (10).
  2. Lift cage according to claim 1, characterised in that the control device (32) is so constructed that it can activate the electric motor (22) in such a manner that a maximum actuation force able to be exerted by the thrust crank drive (18, 24 - 30) on the at least one door panel (10) is substantially constant over the entire movement path between the open setting and the closed setting of the door panel (10).
  3. Lift cage according to claim 1 or 2, characterised in that the control device (32) comprises a memory device (34) for storing a predetermined rotational speed plot for the electric motor (22) over the entire movement path between the open setting and the closed setting of the door panel (10).
  4. Lift cage according to any one of claims 1 to 3, characterised in that the control device (32) comprises a memory device (34) for storing changing translation ratios of the thrust crank drive over the entire movement path between the open setting and the closed setting of the door panel (10).
  5. Lift cage according to one of claims 3 and 4, characterised in that the control device (32) comprises an evaluating device (36) for detection of a deviation between an actual motor variable and a motor variable required for the predetermined rotational speed plot.
  6. Lift cage according to claim 5, characterised in that the control device (32) is constructed for stopping and/or reversing the movement of the door panel (10) in the case of a detected deviation of specific variables.
  7. Lift cage according to any one of the preceding claims, characterised in that a speed measuring device (40) for detection of a movement speed of the at least one door panel (10) is provided.
  8. Lift cage according to claim 7, characterised in that the control device (32) comprises an adaptation device (38) for adaptation of the predetermined rotational speed plot for the electric motor (22) during operation of the lift cage on the basis of the detected movement speeds of the at least one door panel (10).
  9. Lift cage according to any one of the preceding claims, characterised in that an angle measuring device (42) for detection of at least one angular position of at least one component of the thrust crank drive (18, 24 - 30) is provided.
  10. Lift cage according to claim 9, characterised in that the control device (32) is constructed in such a manner that a regulation of the motor torque and/or motor rotational speed of the electric motor (22) is carried out in dependence on the angular position detected by the angle measuring device (42).
  11. Lift cage according to any one of the preceding claims, characterised in that the control device (32) is a programmable control device, wherein the control device is programmable with an algorithm which in the determination of the motor rotational speed and/or motor torque of the electric motor (22) can take into consideration the kinematics of the thrust crank drive in such a manner that, in particular, a constant speed of the door panel results and/or the maximum closing force that can be exerted at the door panel remains constant during the entire closing or opening travel.
  12. Lift cage according to any one of the preceding claims, characterised in that a step-down translation gear (20) is provided between the electric motor (22) and the thrust crank drive (18, 24 - 30).
  13. Method of modernising a lift cage with an access opening (11), a cage door for closing the access opening, which comprises at least one door panel (10) displaceable parallel to the access opening, a thrust crank drive (18, 24 - 30) for moving the at least one door panel (10) between an open setting and a closed setting as well as an electric motor (22) for driving the thrust crank drive, characterised in that a control device (32) is installed which is constructed in such a manner that it can so activate the electric motor (22) that a movement speed of the at least one door panel (10) is substantially constant over the entire movement path between the open setting and the closed setting of the door panel (10) and/or that a maximum actuation force able to be exerted by the thrust crank drive on the at least one door panel (10) is substantially constant of the entire movement path between the open setting and the closed setting of the door panel (10).
  14. Method according to claim 13, characterised in that an existing electric motor is removed and a new electric motor (22) is installed and coupled with the installed control device (32).
  15. Method according to claim 13 or 14, characterised in that a frequency converter for control of the electric motor (22) is installed.
  16. Method according to any one of claims 13 to 15, characterised in that a speed measuring device (40) for detection of a movement speed of the at least one door panel (19) is installed and coupled with the installed control device (32).
  17. Method according to any one of claims 13 to 16, characterised in that an angle measuring device (42) for detection of at least one angular position of at least one component of the thrust crank drive (18, 24 - 30) is installed and coupled with the installed control device (32).
EP20100752588 2009-09-18 2010-09-15 Elevator car Active EP2477926B1 (en)

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EP20090170764 EP2298683A1 (en) 2009-09-18 2009-09-18 Door operator
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PCT/EP2010/063509 WO2011032955A1 (en) 2009-09-18 2010-09-15 Elevator car

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EP2298683A1 (en) 2011-03-23
US20120168259A1 (en) 2012-07-05
MX2012003103A (en) 2012-04-11
EP2477926A1 (en) 2012-07-25
CL2012000669A1 (en) 2012-09-14
CN102741148B (en) 2015-06-17
HK1172309A1 (en) 2013-04-19
CA2772281C (en) 2018-01-09
BR112012006171A2 (en) 2016-05-31
ES2534489T3 (en) 2015-04-23
AU2010297383B2 (en) 2016-09-29
US9126809B2 (en) 2015-09-08
KR20120069687A (en) 2012-06-28
CN102741148A (en) 2012-10-17
WO2011032955A1 (en) 2011-03-24
CA2772281A1 (en) 2011-03-24
AU2010297383A1 (en) 2012-04-12
BR112012006171B1 (en) 2020-01-14
MY162225A (en) 2017-05-31

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