• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SAFETY ARRANGEMENT OF AN ELEVATOR. The invention relates to a safety arrangement of an elevator, comprising sensors (27, 28) configured to indicate functions that are crucial from the point of view of safety of the elevator, and also a safety circuit (20, 34) with which data formed by the aforementioned sensors (27, 28) indicating the safety of the elevator are read. The safety arrangement comprises a drive device (1) for driving the elevator lifting machine. The drive device (1) comprises a DC bus (2A, 2B) and also a motor bridge (3) connected to the DC bus for supplying electricity to the elevator motor (6). The motor bridge (3) comprises high-side (4A) and low-side (4B) switches to supply electrical power from the CD bus (2A, 2B) to the elevator motor (6) when starting. with the elevator motor (6), and also from the elevator motor (6) to the DC bus (2A, 2B) when braking with the elevator motor (6). The drive device also comprises a control circuit (5) of the motor bridge, with which control circuit the operation of the motor bridge (3) is controlled (...).
    公开号:BR112014029581B1
    申请号:R112014029581-6
    申请日:2013-05-20
    公开日:2022-02-01
    发明作者:Ari Kattainen；Pasi Raassina；Tapio Saarikoski；Arto Nakari；Antti Kallioniemi；Lauri STOLT
    申请人:Kone Corporation；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [0001] The invention relates to the safety provisions of an elevator. FUNDAMENTALS OF THE INVENTION
    [0002] In an elevator system, there must be a safety system in accordance with safety standards, by means of which safety system the operation of the elevator system may be interrupted, for example as a consequence of a defect or malfunction. an operation error. The aforementioned safety system comprises a safety circuit, which comprises safety switches in series, whose switches measure the safety of the system. The opening of a safety switch indicates that the safety of the elevator system has been endangered. In this case, the operation of the elevator system is stopped and the elevator system is placed in a safe state by disconnecting with contactors from the power supply from the electricity network to the elevator motor. In addition, the machine brakes are activated by disconnecting with a contactor the current supply to the electromagnet of a machine brake.
    [0003] Contactors, like mechanical components, are unreliable because they only withstand a certain number of current disconnections. The contacts of a contactor can also weld closed if they are excessively loaded, in which case the contactor's ability to disconnect current ceases. A contactor failure could consequently result in impaired safety in the elevator system.
    [0004] As components, contactors are large in size, so devices containing contactors become large. On the other hand, it is a general objective to use built-up space as efficiently as possible, in which case placement of oversized elevator components containing contactors can cause problems.
    [0005] Consequently, there would be a need to find a solution to reduce the number of contactors in an elevator system without compromising the safety of the elevator system. PURPOSE OF THE INVENTION
    [0006] The object of the invention is to solve one or more of the obstacles described above. An object of the invention is to describe a safety arrangement of an elevator, which safety arrangement comprises an actuation device of an elevator, whose actuation device is implemented without contactors. An object of the invention is to describe an elevator safety arrangement, which safety arrangement comprises an elevator driving device, the connection of which as a part of the elevator safety arrangement is implemented with solid state components only.
    [0007] To achieve this objective, the invention describes a safety arrangement of an elevator according to claim 1. Preferred embodiments of the invention are described in the dependent claims. Some inventive embodiments and inventive combinations of the various embodiments are also shown in the descriptive section and drawings of the present application. SUMMARY OF THE INVENTION
    [0008] The safety arrangement of an elevator according to a first aspect of the invention comprises sensors configured to indicate functions that are crucial from the point of view of safety of the elevator, an electronic supervision unit, which comprises an input for the elevators. data formed by the aforementioned sensors indicating the safety of the elevator, and also a drive device to drive the elevator lifting machine. The drive device comprises a DC bus and also a motor bridge (free translation of “motor bridge”) connected to the DC bus for the supply of electricity to the elevator motor. The motor bridge comprises the upper and lower switches, to supply electrical power from the DC bus to the elevator motor when driving with the elevator motor, and also from the elevator motor to the DC bus when braking with the elevator motor. . The drive device also comprises a motor bridge control circuit, with whose control circuit the operation of the motor bridge is controlled by producing control pulses at the control poles of the upper and lower switches of the motor bridge, a input for a safety signal, whose safety signal can be disconnected/connected from outside the triggering device, and also trip prevention logic, which is connected to the input circuit and is configured to prevent the passage of control pulses to the control poles of the upper and/or lower tap-changers of the motor bridge when the safety signal is disconnected. The safety signal conductor is physically connected by cable from the electronic supervision unit to the triggering device, and the electronic supervision unit comprises means for disconnecting/connecting the safety signal. The electronic supervision unit is arranged to place the elevator in a state preventing a travel by disconnecting the safety signal and also to remove the state preventing a travel by connecting the safety signal.
    [0009] The drive device according to the invention most preferably comprises a brake controller, which comprises a switch for supplying electrical energy to the control coil of an electromagnetic brake, a brake control circuit, with which the operation of the brake controller is controlled by producing control pulses at the control pole of the switch of the brake controller; and also brake trip logic, which is connected to the input circuit and is configured to prevent the passage of control pulses to the control pole of the commutator of the brake controller when the safety signal is disconnected.
    [0010] Consequently, the invention makes it possible for an elevator to be placed in a safety state by disconnecting the safety signal with an electronic supervision unit, in which case when the safety signal is disconnected the power supply from the DC bus to the elevator motor is stopped and the machine brakes are activated to stop the traction sheave of the elevator lifting machine. A DC bus refers here to a DC voltage power bus, i.e. a part of the main circuit conduction/transmission electrical power, such as the DC intermediate circuit buses of a frequency converter.
    [0011] In a preferred embodiment of the invention, the triggering device comprises indicator logic to form a signal that allows the start of a course. The indicator logic is configured to activate the signal allowing the start of a stroke when the trip prevention logic and also the brake off logic are in a state preventing the passage of control pulses, and the indicator logic is configured to disconnect the signal allowing the start of a course if at least one of the trip prevention logic and the brake trip logic is in a state allowing the control pulses to pass. The triggering device comprises an output for indicating the signal allowing the start of a course to supervisory logic external to the triggering device.
    [0012] In a preferred embodiment of the invention, the signal allowing the start of a course is conducted from the triggering device to the electronic supervision unit, and the electronic supervision unit is configured to read the status of the signal allowing the start of a course. course when the security system is disconnected. The electronic supervision unit is arranged to prevent a stroke with the elevator if the signal allowing the start of a stroke is not activated when the safety signal is disconnected. In this case, the electronic supervision unit can monitor the operating condition of the trip prevention logic as well as the brake trip logic based on the signal allowing the start of a course. The electronic supervision unit can, for example, deduce that at least one or other of the trip prevention logic and the brake trip logic is faulty if the signal allowing the start of a stroke is not activated.
    [0013] In a preferred embodiment of the invention, a data transfer bus is formed between the electronic supervision unit and the drive device. The drive device comprises an input for sensor measurement data measuring the elevator motion state, and the electronic supervision unit is arranged to receive the sensor measurement data measuring the elevator motion state via the bus. data transfer between the electronic supervision unit and the drive device. Consequently, the electronic supervision unit quickly detects a sensor failure by measuring the moving state of the elevator or the measuring electronics, in which case the elevator system can be transferred with the control of the electronic supervision unit to a safer state as soon as possible. quickly as possible. The electronic supervision unit can also in this case monitor the operation of the drive device without separate monitoring means, for example during emergency braking, in which case emergency braking can be carried out under the supervision of the electronic supervision unit in a controlled deceleration with engine braking, which reduces the forces exerted on elevator passengers during an emergency stop. That is, forces during an emergency stop that are too great could cause unpleasant sensations in elevator passengers or even result in a real danger situation.
    [0014] The safety arrangement of an elevator according to a second aspect of the invention comprises a safety circuit, which comprises mechanical safety switches mounted in series with each other, whose safety switches are configured to indicate functions that are crucial to the system. elevator safety point of view. The safety arrangement also comprises a drive device for driving the elevator lifting machine, which drive device comprises a DC bus and also a motor bridge connected to the DC bus for supplying electricity to the elevator motor. The motor bridge comprises upper and lower switches to supply electrical power from the DC bus to the elevator motor to the elevator motor drive, and also from the elevator motor to the DC bus when braking with the elevator motor. The drive device also comprises a motor bridge control circuit, with which control circuit the operation of the motor bridge is controlled by producing control pulses at the control poles of the upper and lower switches of the motor bridge, a circuit input for a safety signal, which safety signal can be disconnected/connected from outside the triggering device, and also trip prevention logic, which is connected to the input circuit and is configured to prevent the passage of safety pulses. control to the control poles of the upper and/or lower tap-changers of the motor bridge when the safety signal is disconnected. The safety signal conductor is wired from the safety circuit to the actuation device, and the safety circuit comprises means for disconnecting/connecting the safety signal. The safety signal is configured to be disconnected by opening a safety switch in the safety circuit. Accordingly, the invention allows the actuation device according to the invention to be connected as a part of an elevator safety arrangement having a safety circuit by connecting the actuation device via the safety signal to the safety circuit.
    [0015] By means of the invention, the power supply from the DC bus through the motor bridge to the elevator motor can be disconnected without mechanical contactors, by preventing the passage of control pulses to the control poles of the switches upper and/or lower with the trigger prevention logic according to the invention. Similarly, the power supply to the control coil of each electromagnetic brake can be disconnected without mechanical contactors, by preventing the passage of control pulses to the control pole of the commutator of the brake controller with the brake trip logic accordingly. with the invention. The switch of the brake controller, and also the upper and lower switches of the motor bridge, are more preferably solid state switches, such as IGBT transistors, MOSFET transistors or bipolar transistors.
    [0016] In a preferred embodiment of the invention, the aforementioned brake controller is connected to the DC bus, and the aforementioned switch is configured to supply electrical power from the DC bus to the control coil of an electromagnetic brake. Consequently, also the energy returning to the DC bus in connection with the braking of the elevator motor can be used in the brake control, which improves the efficiency ratio of the elevator drive device. Furthermore, the main circuit of an elevator driving device is simplified when a separate electricity supply to the brake controller does not need to be arranged in the driving device.
    [0017] The invention makes it possible to integrate the power supply device for the elevator motor and the brake controller to the same drive device, preferably for the frequency converter of the elevator lifting machine. This is of utmost importance because the combination of the power supply device for the elevator motor and the brake controller is indispensable from the point of view of safe operation of the elevator lifting machine and, consequently, from the point of view of safe operation. of the entire elevator. The drive device according to the invention can also be connected as a part of the safety arrangement of an elevator via a safety signal, in which case the safety arrangement of the elevator is simplified and can be easily implemented in many different ways. . Additionally, the combination of the safety signal, trip prevention logic and brake trip logic according to the invention makes it possible for the drive device to be implemented completely without mechanical contactors, using only solid-state components. More preferably, the safety signal input circuit, trip prevention logic, and brake trip logic are implemented with only the solid state discrete components, i.e. without integrated circuits. In this case, the analysis of the effect of different fault situations as well as, for example, EMC interference connecting the safety signal input circuit from outside the drive device is facilitated, which also facilitates the connection of the drive device with different elevator safety provisions.
    [0018] Consequently, the safety arrangement according to the invention simplifies the structure of the drive device, reduces the size of the drive device and increases reliability. Additionally, by eliminating the contactors, the disturbing noise produced by the operation of the contactors is also removed. The simplification of the drive device and the reduction in the size of the drive device allow placing a drive device in the same location in the elevator system as the elevator lifting machine. As high power electrical current flows in current conductors between the driving device and the elevator lifting machine, placing the driving device in the same location as the elevator lifting machine makes it possible to reduce or even eliminate current conductors, in which case also the EMC interference produced by the operation of the drive device and the elevator lifting machine is reduced.
    [0019] In a preferred embodiment of the invention, the trip prevention logic is configured to allow the passage of control pulses to the control poles of the upper and lower commutators of the motor bridge when the safety signal is connected, and the Brake trip logic is configured to allow control pulses to pass through to the control pole of the tap-changer of the brake controller when the safety signal is connected. Consequently, a course with the elevator can be enabled only by connecting the safety signal, in which case the safety arrangement of the elevator is simplified.
    [0020] In a preferred embodiment of the invention, the supply of electricity to the trip prevention logic is arranged via the safety signal path and the signal path of the control pulses from the motor bridge control circuit to the trip prevention logic is arranged through an isolator.
    [0021] In a preferred embodiment of the invention, the supply of electricity to the brake trip logic is arranged via the safety signal path, and the signal path from the control pulses from the brake control circuit to the logic brake shutdown is arranged through an isolator.
    [0022] By arranging the electricity supply for the braking prevention logic/brake tripping logic via the safety signal path, it can be ensured that the electricity supply for the tripping prevention logic/ tripping logic is disconnected, and that the passage of the control pulses to the selected control poles of the tap-changers of the motor bridge and the brake controller is consequently interrupted, when the safety signal is disconnected. In this case, upon disconnection of the safety signal, the power supply to the electric motor as well as to the control coil of the electromagnetic brake can be disconnected in a fail-safe manner without separate mechanical contactors.
    [0023] In this context, an insulator means a component that disconnects the passage of an electrical charge along a signal path. In an insulator, the signal is transmitted accordingly, for example, as radiation from an electromagnet (opto-isolator) or via a magnetic field or an electric field (digital isolator). By using an isolator, the passage of load carriers from the motor bridge control circuit to the start-up prevention logic as well as from the brake control circuit to the brake off logic is prevented, for example, when the motor bridge control circuit/brake control circuit fails in a short circuit.
    [0024] In the most preferred embodiment of the invention, the trip prevention logic comprises a bipolar or multipolar signal switch through which control pulses travel to the control pole of a motor bridge switch, and at least one The signal switch pole is connected to the input circuit (i.e. the safety signal path) in such a way that the signal path of the control pulses through the signal switch is interrupted when the safety signal is disconnected.
    [0025] In a preferred embodiment of the invention, the aforementioned signal switch of the on-prevention/brake-off logic is a transistor, through whose control pole (gate), the control pulses travel to the opto photodiode - controller isolator of an IGBT transistor. In this case, the signal path from the control pulse to the transistor gate is configured to travel through a metal foil resistor (MELF resistor). The aforementioned transistor can be, for example, a bipolar transistor or a MOSFET transistor.
    [0026] In a preferred embodiment of the invention, the aforementioned signal switch is mounted in connection with the control pole of each upper tap-changer of the motor bridge and/or in connection with the control pole of each lower tap-changer of the motor bridge. motor.
    [0027] In a preferred embodiment of the invention, the aforementioned electricity supply occurring via the safety signal is configured to be disconnected upon disconnection of the safety signal.
    [0028] In a preferred embodiment of the invention, the drive device comprises a rectifier connected between the AC electricity source and the DC bus.
    [0029] In a preferred embodiment of the invention, the actuation device is implemented completely without mechanical contactors.
    [0030] In a preferred embodiment of the invention, the safety arrangement comprises an emergency triggering device, which is connected to the DC bus of the triggering device. The emergency actuation device comprises a secondary power source, through which electrical power can be supplied to the DC bus during a malfunction of the main power source of the elevator system. The emergency triggering device and the triggering device are implemented completely without mechanical contactors. In the safety arrangement according to the invention, the structure and placement of the trip-prevention logic and the brake-disconnect logic also make it possible for the power supply to take place from a secondary power source via the DC bus to the elevator motor and that an electromagnetic brake is disconnected without a mechanical contactor.
    [0031] The aforementioned secondary energy source can be, for example, a generator, fuel cell, accumulator, super capacitor or pendulum. The secondary power source is rechargeable (e.g. an accumulator, super capacitor, pendulum, some types of fuel cells), electrical energy returning to the DC bus via the motor bridge during elevator motor braking can be charged to the secondary power source, in which case the efficiency ratio of the elevator system is improved.
    [0032] In a preferred embodiment of the invention, the trip prevention logic is configured to prevent the passage of control pulses to the control poles of the upper switches only, or alternatively to the control poles only of the lower switches of the bridge. motor when the safety signal is disconnected. In the same context, the dynamic braking of the elevator motor is implemented without any mechanical contactors, using a bridge section controlling the motor bridge as described in Patent Application WO 2008031915 A1, in which case the dynamic braking of the elevator motor to the DC bus is possible although the safety signal is disconnected and the power supply from the DC bus to the elevator motor is consequently prevented. The energy returning in dynamic braking can also be loaded into the secondary power source of the emergency drive device, which improves the efficiency ratio of the elevator system.
    [0033] In the most preferred embodiment of the invention, the drive-prevention logic and the brake-off logic are implemented in the elevator drive device using only solid-state components. In a preferred embodiment of the invention, the indicator logic is implemented in the elevator drive device using solid state components only. The use of solid-state components rather than mechanical components, such as relays and contactors, is preferred due, among other things, to their better reliability and less operating noise. As the number of contactors decreases, the wiring of the elevator safety system also becomes simpler because connection contactors normally require separate cabling.
    [0034] In some embodiments of the invention, the drive device and safety arrangement of an elevator can be implemented without indicator logic, because with the brake off logic and drive prevention logic, designed in accordance with the invention, in themselves, an extremely high Safety Integrity Level can be achieved, even SIL 3 Safety Integrity Level according to EN IEC 61508 standard, in which case separate measurement feedback is not necessarily required. (a signal allowing the start of a course) on the operation of the trip prevention logic and the brake trip logic.
    [0035] According to the invention, the safety signal is disconnected by disconnecting/preventing the safety signal from passing into the input circuit with means that must be arranged outside the triggering device, and the safety signal is connected to the if it allows the passage of the safety signal to the input circuit with means that must be arranged outside the triggering device.
    [0036] In a preferred embodiment of the invention, the safety signal is divided into two separate safety signals, which can be disconnected/connected independently of each other, and the triggering device comprises two input circuits, each for the two safety signs. The first of the input circuits in this case is connected to the trip prevention logic in such a way that the passage of control pulses to the control poles of the upper and/or lower switches of the motor bridge is prevented when the first of the signals mentioned above is disconnected, and the second of the input circuits is connected to the brake trip logic in such a way that the passage of the control pulses to the control pole of the commutator of the brake controller is prevented when the second of the signals previously mentioned security is disconnected. In that case, the electronic supervision unit may comprise means for disconnecting the aforementioned safety signals independently from each other, in which case the activation of the brake and the disconnection of the electric motor power supply can be carried out as two separate procedures, even at two different times.
    [0037] In the most preferred embodiment of the invention, the safety signal is connected when the direct voltage signal travels through the safety relay contact that is in the electronic supervision unit to the input circuit that is in the actuation device , and the safety signal is disconnected when the passage of the direct voltage signal to the driving device is disconnected by controlling the aforementioned contact of the safety relay in the open state. Consequently, also disconnection or cutting of the safety signal conductor results in disconnection of the safety signal, preventing the elevator system from operating in a fail-safe manner. Furthermore, a transistor can be used in the electronic supervision unit instead of a safety relay to disconnect the safety signal, preferably two or more transistors connected in series with each other, in which case a short circuit of a transistor has not yet prevents disconnection of the safety signal. An advantage of using a transistor is that with transistors the safety signal, if necessary, can be disconnected for a very short time, for example for a period of approximately 1 millisecond, in which case a short interruption can be filtered out from the safety signal in the input circuit of the drive device without having an effect on the operation of the safety logic of the drive device. Consequently, the breaking capacity of the transistors can be monitored regularly, and even during an elevator travel, by producing short interruptions in the safety signal in the electronic supervision unit and by measuring the breaking capacity of the transistors in connection with a safety signal disconnection.
    [0038] The foregoing summary, additional features and additional advantages of the invention presented below will be better understood through the following description of some embodiments, the description not limiting the scope of application of the invention. BRIEF EXPLANATION OF THE FIGURES
    [0039] Figure 1 illustrates a block diagram of a safety arrangement of an elevator according to the invention.
    [0040] Figure 2 illustrates a circuit diagram of the motor bridge and trip prevention logic.
    [0041] Figure 3 illustrates a circuit diagram of the brake controller and brake trip logic.
    [0042] Figure 4 illustrates an alternate circuit diagram of the brake controller and brake trip logic.
    [0043] Figure 5 illustrates another alternate circuit diagram of the brake controller and brake trip logic.
    [0044] Figure 6 illustrates the safety signal circuit in the safety arrangement of an elevator according to Figure 1.
    [0045] Figure 7 illustrates as a block diagram of the assembly of an emergency actuation device in the safety arrangement and an elevator according to Figure 1.
    [0046] Figure 8 illustrates as a circuit diagram the assembly of a drive device according to the invention in connection with the safety circuit of an elevator. MORE DETAILED DESCRIPTION OF THE PREFERRED MODALITIES OF THE INVENTION
    [0047] Figure 1 illustrates as a block diagram a safety arrangement in an elevator system, in which an elevator car (not shown in the figure) is driven into an elevator shaft (not shown in the figure) with the machine lifting lift by means of cable friction or belt friction. The speed of the elevator car is adjusted so as to be in accordance with the target value for the speed of the elevator car, i.e. the speed reference, calculated by the elevator control unit 35. The speed reference is formed from such that the elevator car can transfer passengers from one floor to another based on elevator calls made by elevator passengers.
    [0048] The elevator cabin is connected to the counterweight with cables or a belt moving through the traction sheave of the lifting machine. Various cable solutions known in the art can be used in the elevator system, and are not presented in more detail in that context. The lifting machine also comprises an elevator motor, which is an electric motor 6 with which the elevator car is driven by turning the traction sheave, as well as two electromagnetic brakes 9, with which the traction sheave is braked, and is held in position. The lifting machine is driven by supplying electrical energy with frequency converter 1 from electricity network 25 to electric motor 6. Frequency converter 1 comprises a rectifier 26, with which the AC mains voltage 25 is rectified. for the DC 2A, 2B intermediate circuit of the frequency converter. The DC voltage of the DC intermediate circuit 2A, 2B is further converted by the motor bridge 3 into the variable-amplitude and variable-frequency supply voltage of the electric motor 6. The circuit diagram of the motor bridge 3 is shown in Figure 2. A Motor bridge comprises upper IGBT transistors 4A, and lower 4B, which are connected by producing with the control circuit 5 modulated pulses, preferably PWM (pulse width modulation) short motor bridge, on the gates of the IGBT transistors. The motor bridge control circuit 5 can be implemented, for example, with a DSP processor. The upper 4A IGBT transistors are connected to the 2A high voltage bus of the DC intermediate circuit and the lower 4B IGBT transistors are connected to the 2B low voltage bus of the DC intermediate circuit. By alternately connecting the upper 4A and lower 4B IGBT transistors, a PWM modulated pulse pattern is formed from the DC voltages of the high voltage bus 2A and the low voltage bus 2B at the motor outputs R, S, T, the frequency of the pulses whose pulse pattern is essentially greater than the fundamental frequency of the voltage. The amplitude and frequency of the motor output voltages R, S, T in this case can be changed continuously by adjusting the modulation index of the PWM modulation.
    [0049] The control circuit 5 of the motor bridge also comprises a speed regulator, through which the rotational speed of the electric motor 6, and simultaneously the speed of the elevator car, are adjusted in the direction of the speed reference calculated by the elevator control unit 35. The frequency converter 1 comprises an input for the measurement signal of a pulse encoder 27, with which signal the rotational speed of the electric motor 6 is measured for speed adjustment.
    [0050] During motor braking the electrical energy also returns from the electric motor 6 via the motor bridge 3 back to the DC intermediate circuit 2A, 2B from where it can then be supplied back to the electricity grid 25 with the rectifier 26. On the other hand, the solution according to the invention can also be implemented with a rectifier 26, which is not a braking type for the network, such as, for example, with a diode bridge. . In this case, during motor braking, the energy returning to the DC intermediate circuit can be converted, for example, into heat in a power resistor, or it can be supplied to a separate temporary storage medium for electrical energy, such as to an accumulator. or capacitor. During engine braking, the effect of the force of the electric motor 6 occurs in the opposite direction with respect to the direction of movement of the elevator car. Consequently, engine braking takes place, for example, when driving the empty elevator car in the upward direction, in which case the elevator car is braked with the electric motor 6, so that the counterweight pulls in the upward direction with the its gravitational force.
    [0051] The electromagnetic brake 9 of the lifting machine of an elevator comprises a frame part fixed to the frame of the lifting machine and also an armature part movably supported on the frame part. The brake 9 comprises impulsion springs, which are supported on the frame part and activate the brake by pressing the armature part to engage with the braking surface on the motor shaft of the lifting machine or, for example, on the pulley. of traction to stop the movement of the traction sheave. The frame part of the brake 9 comprises an electromagnet, which exerts an attractive force between the frame part and the armature part. The brake is opened by supplying current to the brake control coil, in which case the attractive force of the electromagnet pulls the armature part away from the braking surface and the effect of the braking force is interrupted. Correspondingly, the brake is activated by switching off the brake by disconnecting the current supply to the brake control coil.
    [0052] A brake controller 7 is integrated into the frequency converter 1, by means of which the brake controller the two electromagnetic brakes 9 of the lifting machine are controlled by supplying current separately to the control coil 10 of the two electromagnetic brakes 9 The brake controller 7 is connected to the intermediate circuit of DC 2A, 2B, and current is supplied to the control coils of the electromagnetic brakes 9 of the intermediate circuit of DC 2A, 2B. The circuit diagram of brake controller 7 is shown in more detail in Figure 3. For the sake of clarity, Figure 3 presents a circuit diagram with respect to supplying electricity to only one brake, because the circuit diagrams are similar. for both brakes. Consequently, the brake controller 7 comprises a separate transformer 36 for the two brakes, with the main circuit of which transformer two IGBT transistors 8A, 8B are connected in series such that the main circuit of the transformer 36 can be connected between the buses. 2A, 2B of the DC intermediate circuit by connecting IGBT transistors 8A, 8B. The IGBT transistors are connected by producing a brake control short circuit 11, preferably PWM modulated pulses on the gates of the IGBT transistors 8A, 8B. The brake control circuit 11 can be implemented, for example, with a DSP processor, and it can also connect the same processor as the motor bridge control circuit 5. The secondary circuit of the transformer 36 comprises a rectifier 37, through which the voltage induced when connecting the main circuit to the secondary circuit is rectified and supplied to the control coil 10 of the electromagnetic brake, whose control coil 10 is thus connected with the secondary side of the rectifier 36. Furthermore, a current damping circuit 38 is connected in parallel with the control coil 10 on the secondary side of the transformer, whose current damping circuit comprises one or more components (e.g. a resistor , capacitor, varistor, etc.), which receives the energy stored in the inductance of the brake control coil in connection with the disconnection of the current of the control coil 10, and consequently accelerates the disconnection of the current of the control coil 10 and activation 9. Accelerated current disconnection occurs by opening the MOSFET transistor 39 in the secondary circuit of the brake controller, in which case the current from the brake coil 10 is switched to displacement via the current damping circuit 38. The brake controller to be implemented with the transformer described here is particularly failsafe, especially from the point of view of earth faults, because the DC intermediate circuit power supply 2A, 2B to the two current conductors of brake control coil 10 is disconnected when the modulation of IGBT transistors 8A, 8B on the primary side of transformer 36 is interrupted.
    [0053] The safety arrangement of an elevator according to Figure 1 comprises mechanical normally closed safety switches 28 which are configured to supervise the position/lock of the entries to the elevator shaft as well as, for example, the operation of the controller Excessive speed from the elevator car. The safety switches of the elevator shaft entrances are connected in series with each other. The opening of a safety switch 28 accordingly indicates an event that affects the safety of the elevator system, such as the opening of an entrance to the elevator shaft, the arrival of an elevator car at an extreme limit switch for permitted movement , overspeed controller activation, etc.
    [0054] The elevator safety arrangement comprises an electronic supervision unit 20, which is a special microprocessor controlled safety device that meets EN IEC 61508 safety standards and designed to comply with the safety integrity level SIL 3. Safety switches 28 are wired to electronic supervision unit 20. Electronic supervision unit 20 is also connected with a communication bus 30 to frequency converter 1, elevator control unit 35 and elevator car control, and the electronic supervision unit 20 monitors the safety of the elevator system based on the data it receives from the safety switches 28 and the communication bus. The electronic supervision unit 20 forms a safety signal 13, on the basis of which a travel with the elevator can be allowed or, on the other hand, prevented by disconnecting the power supply to the elevator motor 6 and by activating the machine brakes. 9 to stop the traction sheave movement of the lifting machine. Consequently, the electronic supervision unit 20 prevents a stroke with the elevator, for example, by detecting that an entrance to the elevator shaft has opened, by detecting that an elevator car has reached the extreme limit switch for permitted motion, and by detect that the overspeed controller has been activated. Furthermore, the electronic supervision unit receives the measurement data from a pulse encoder 27 of the frequency converter 1 via the communication bus 30, and monitors the movement of the elevator car in connection, among others, with a speed limiter. emergency based on pulse encoder 27 measurement data that it receives from frequency converter 1.
    [0055] The frequency converter 1 is provided with a special safety logic 15, 16 to be connected with the safety signal path 13, whereby the disconnection of the safety logic from the power supply of the elevator motor 6 as well as activation of machine brakes can be performed without mechanical contactors, using only solid state components, which improve the safety and reliability of the elevator system compared to a solution implemented with mechanical contactors. The safety logic is formed from trip prevention logic 15, whose circuit diagram is shown in Figure 2, and also from brake trip logic 16, whose circuit diagram is shown in Figure 3. frequency 1 comprises indicator logic 17, which forms data on the operating state of the trip prevention logic 15 and the brake trip logic 16 for the electronic supervision unit 20. Figure 6 illustrates how safety functions of the aforementioned electronic supervision unit 20 and the frequency converter 1 are connected together in an elevator safety circuit.
    [0056] According to Figure 2, the trip prevention logic 15 is mounted in the signal path between the motor bridge control circuit 5 and the control port of each upper IGBT transistor 4A. The trip prevention logic 15 comprises a PNP transistor 23, the emitter of which is connected to the input circuit 12 of the safety signal 13 in such a way that the power supply for the trip prevention logic 15 occurs from the DC voltage source. 40 via the safety signal 13. The safety signal 13 travels via a contact of the safety relay 14 of the electronic supervision unit 20, in which case the supply of electricity from the DC voltage source 40 to the transmitter of the PNP transistor 23 is disconnected when contact 14 of the safety relay of the electronic supervision unit 20 opens. Although Figures 2 and 3 show only one contact 14 of the safety relay, in practice the electronic supervision unit 20 comprises two safety relays/contacts 14 of the safety relay connected in series with each other, with which effort is made to ensure the reliability of the disconnection. When the contacts 14 of the safety relay open, the signal path from the control pulses from the control circuit 5 of the motor bridge to the control ports of the upper IGBT transistors 4A of the control bridge is disconnected at the same time, in which in case the upper IGBT transistors 4A are opened and the power supply from the intermediate circuit of DC 2A, 2B to the phases R, S, T of the electric motor is interrupted. The trip prevention logic circuit diagram 15 in Figure 2, for the sake of simplicity, is illustrated with respect to the R phase only because the trip prevention logic circuit diagrams 15 are similar also in connection with the S phases. and T.
    [0057] Power supply to electric motor 6 is prevented as long as safety signal 13 is disconnected, i.e. the contact of safety relay 14 is open. The electronic supervision unit 20 connects safety signal 13 via control of the safety relay 14 contact in the closed state, in which case the DC voltage is connected from the DC voltage source 40 to the emitter of the PNP transistor 23. In this case, the control pulses may travel from the control circuit 5 from the motor bridge through the collector of the PNP transistor 23 and then to the control ports of the upper IGBT transistors 4A, which allows a stroke with the motor. How a failure of the PNP transistor 23 could otherwise cause the control pulses to shift to the IGBT transistors higher 4A even though the voltage supply to the emitter of the PNP transistor has actually been cut off (safety signals have been disconnected) , the signal path from the control pulses from the motor bridge control circuit 5 to the trip prevention logic 15 is also arranged for displacement via an opto-isolator 21.
    [0058] According to Figure 2, the circuit of PNP transistor 23 also has good tolerance to EMC interference in connection with the signal conductors of safety signal 13 traveling outside the frequency converter, preventing its access to the control logic. trigger prevention 15.
    [0059] According to Figure 3, the brake shutdown logic 16 is mounted in the signal path between the brake control circuit 11 and the control ports of the IGBT transistors 8A, 8B of the brake controller 7. brake off logic 16 comprises a PNP transistor 23, the emitter of which is connected to the same input circuit 12 of the safety signal 13 as the trip prevention logic 15. Consequently, the supply of electricity from the DC voltage source 40 to the emitter of the PNP transistor 23 of the brake trip logic 16 is disconnected, when the contact 14 of the safety relay of the electronic supervision unit 20 opens. At the same time, the signal path of the control pulses of the control circuit of brake 11 to the control ports of the IGBT transistors 8A, 8B of the brake controller 17 is disconnected, in which case the IGBT transistors 8A, 8B open and the power supply of the intermediate circuit from DC 2A, 2B to brake coil 10 is interrupted. The circuit diagram of the brake trip logic 16 in Figure 3, for the purpose of simplicity, is illustrated only with respect to the IGBT transistor 8B connecting to the low voltage bus 2B of the DC intermediate circuit, because the circuit diagram of the brake trip logic 16 is similar also in connection with the IGBT transistor 8A connecting to the high voltage bus 2A of the DC intermediate circuit.
    [0060] Power supply from the DC intermediate circuit 2A, 2B to the brake coil is again possible after the electronic supervision unit 20 connects the safety signal 13 by means of closed-form control of the safety relay contact 14, in which case the DC voltage is connected from the DC voltage source 40 to the emitter of the PNP transistor 23 of the brake trip logic 16. Also the signal path of the control pulses formed by the brake control circuit 11 to the Brake trip logic 16 is arranged to run through an opto-isolator 21, for the same reasons as those stated in connection with the above description of trip prevention logic. As the switching frequency of the IGBT transistors 8A, 8B of the brake controller 7 is generally very high, even 20 kilohertz or higher, the opto-isolator 21 must be selected such that the latency of the control pulses through the opto - insulator 21 is minimized.
    [0061] Instead of an opto-isolator 21, also a digital isolator can be used to minimize latency. Figure 4 presents an alternative circuit diagram of the brake trip logic, which differs from the circuit diagram of Figure 3 in such a way that the opto-isolator 21 has been replaced by a digital isolator. A possible digital isolator 21 of Figure 4 is one with an ADUM 4223 type marking manufactured by Analog Devices. The digital isolator 21 receives its operating voltage for the secondary side from a DC voltage source 40 via the contact 14 of the safety relay, in which case the output of the digital isolator 21 stops modulating when the contact 14 opens. .
    [0062] Figure 5 shows yet another alternative circuit diagram of the brake trip logic. The circuit diagram of Figure 5 differs from the circuit diagram of Figure 3 in such a way that the opto-isolator 21 was replaced by a transistor 46, and the output of the brake control circuit 11 was taken directly to the gate of transistor 46. A MELF resistor 45 is connected to the collector of transistor 46. Elevator safety instruction EN 8120 specifies that the failure of a MELF resistor in a short circuit need not be considered when performing a failure analysis, and so that upon selection of the value of the MELF resistor to be large enough, a signal path from the output of the brake control circuit 11 to the gate of an IGBT transistor 8A, 8B can be prevented when the safety contact 14 is opened. Figure 5 provides a simple and inexpensive shutdown logic.
    [0063] In some embodiments, the trip prevention logic circuit diagram of Figure 2 has been replaced by the brake trip logic circuit diagram according to Figure 4 or 5. Thus, the transmission time latency of the signal from the control circuit 5 output of the motor bridge to the IGBT transistor gate 4A, 4B can be reduced in the trip prevention logic.
    [0064] According to Figure 6, the safety signal 13 is led from the DC voltage source 40 of the frequency converter 1 through the contacts 14 of the safety relay of the electronic supervision unit 20 and then back to frequency converter 1, to safety signal input circuit 12. Input circuit 12 is connected to trip prevention logic 15 and also to brake off logic 16 via diodes 41. The purpose of diodes 41 is to prevent the supply of voltage from trip prevention logic 15 to the brake off logic 16/from the brake off logic 16 to the trip prevention logic 15 as a consequence of a fault, such as a short circuit, etc., occurring in the trip prevention logic 15 or the brake shutdown logic 16.
    [0065] Additionally, the frequency converter comprises indicator logic 17, which forms the data on the operating state of the trip prevention logic 15 and the brake trip logic 16 for the electronic supervision unit 20. The logic indicator 17 is implemented as AND logic, whose inputs are inverted. A signal allowing the start of a course is obtained as the output of the indicator logic, whose signal informs that the trip prevention logic 15 and the brake trip logic are in operational condition and the start of the next course is consequently allowed. To activate the signal 18 allowing the start of a course, the electronic supervision unit 20 disconnects the safety signal 13 by opening the contacts 14 of the safety relay, in which case the electricity supply of the trip prevention logic 15 and the Brake trip logic 16 must go to zero, ie the supply of control pulses to the upper IGBT transistors 4A of the motor bridge and to the IGBT transistors 8A, 8B of the brake controller are prevented. If this happens, the indicator logic 17 activates the signal 18 allowing the start of a course by controlling the transistor 42 to be conductive. The output of transistor 42 is wired to electronic supervision unit 20 such that current flows in the opto-isolator in the electronic supervision unit 20 when transistor 42 is conducting, and the opto-isolator indicates to the supervision unit electronics 20 that the start of a course is authorized. If at least one of the power supplies of the trip prevention logic and the brake trip logic does not go to zero after contact 14 of the safety relay opens in the electronic supervision unit 20, transistor 42 does not start to conduct and the electronic supervision unit 20 deduces on the basis that the safety logic of the frequency converter 11 has failed. In this case, the electronic supervision unit prevents the start of the next stroke and sends the stroke prevention data to frequency converter 1 and elevator control unit 35 via communication bus 30.
    [0066] Figure 7 presents an embodiment of the invention, in which an emergency actuation device 32 has been added to the safety arrangement according to Figure 1, by means of which device the elevator operation can be continued during a non-compliance electrical network 25, such as during an overload or a power outage. The emergency start device comprises a battery module 33, preferably a lithium-iron battery module which is connected to the intermediate DC circuit 2A, 2B with a DC/DC transformer 43, by means of which electrical energy can be supplied. be transmitted in both directions between the battery module 33 and the DC intermediate circuit 2A, 2B. The emergency actuation device is controlled in such a way that the battery module 33 is charged with the electric motor 6 when braking and current is supplied from the battery module to the electric motor 6 when the electric motor 6 is activated. According to the invention, also the supply of electricity occurring from the battery module 33 via the intermediate DC circuit 2A, 2B to the electric motor 6, as well as to the brakes 9, can be disconnected using the prevention logic of drive 15 and brake trip logic 16, in which case also the emergency drive device 32 can be implemented without adding a single mechanical contactor to the emergency drive device 32/frequency converter 1.
    [0067] Figure 8 presents an embodiment of the invention in which the safety logic of the frequency converter 1 according to the invention is mounted on an elevator that has a conventional safety circuit 34. The safety circuit 34 is formed from switches 28, such as, for example, the safety switches of the entrance doors to the elevator shaft, which are connected together in series. The safety relay coil 44 is connected in series with the safety circuit 34. The safety relay contact 44 opens when the supply of current to the coil is interrupted when the safety switch 28 of the safety circuit 34 is closed. open. Consequently, the contact of the safety relay 44 opens, for example, when a maintenance person opens the door of an entrance to the elevator shaft with a service key. Safety relay contact 44 is wired from DC voltage source 40 of frequency converter 1 to common input circuit 12 of trip prevention logic 15 and brake off logic 16 such that the Power supply to trip prevention logic 15 and brake trip logic 16 is interrupted when safety relay contact 44 is open. Consequently, when the safety switch 28 opens in the safety circuit 34, the passage of control pulses to the control ports of the upper IGBT transistors 4A of the motor bridge 3 of the frequency converter 1 is interrupted, and the power supply for electric motor 6 of the elevator lifting machine is disconnected. At the same time, the passage of the control pulses to the IGBT transistors 8A, 8B of the brake controller 7 is also interrupted, and the brakes 9 of the hoisting machine are activated to stop the movement of the traction sheave of the hoisting machine.
    [0068] It is obvious to those skilled in the art that, unlike what is described above, the electronic supervision unit 20 can also be integrated into the frequency converter 1, preferably on the same circuit board as the trip prevention logic 15 and /or brake off logic 16. In this case, the electronic supervision unit 20 and the trip prevention logic 15/brake off logic 16, however, form secondary sets that are clearly distinct from each other, so that the architecture of the failsafe apparatus according to the invention is not fragmented.
    [0069] The invention is described above with the aid of a few examples of its embodiment. It is obvious to those skilled in the art that the invention is not limited only to the embodiments described above, but that many other applications are possible within the scope of the inventive concept defined by the appended claims.
    权利要求:
    Claims (20)
    [0001]
    1. Elevator safety arrangement, comprising: sensors (27, 28) configured to indicate functions that are crucial from the point of view of the safety of the elevator; an electronic supervision unit (20), which comprises an input for the formed data by the sensors (27, 28) indicating the safety of the elevator; a drive device (1) for driving the elevator lifting machine, the drive device (1) comprises: a DC bus (2A, 2B); a bridge motor (3) connected to the DC bus for supplying electricity to the elevator motor (6), the motor bridge (3) comprises upper (4A) and lower (4B) switches for supplying electric power from the DC bus ( 2A, 2B) to the elevator motor (6) when driving with the elevator motor (6), and also from the elevator motor (6) to the DC bus (2A, 2B) when braking with the elevator motor (6). ); a control circuit (5) of the motor bridge, the control circuit with which the operation of the motor bridge (3) is controlled by producing control pulses at the control poles of the upper (4A) and lower (4B) switches of the motor bridge; an input circuit (12) for a safety signal (13) , the safety signal (13) can be disconnected/connected from outside the drive device (1); trip prevention logic (15), which is connected to the input circuit (12) and is configured to prevent the passage of control pulses to the control poles of the upper (4A) and/or lower (4B) switches of the motor bridge when the safety signal (13) is disconnected; wherein the safety signal conductor (13) is wired from the electronic supervision unit (20) to the drive device (1); wherein the electronic supervision (20) comprises a mechanism (14) for disconnecting/connecting the safety signal (13); wherein the electronic supervision unit (20) is arranged to place the elevator in a state preventing a course by disconnecting the safety signal. safety (13); wherein the electronic supervision unit (20) is arranged to remove the state preventing a course by connecting the safety signal (13); a brake controller (7), which comprises a switch (8A, 8B) to supply electrical power to the control coil (10) of a brake and electromagnetic (9); a brake control circuit (11), with which the operation of the brake controller (7) is controlled by producing control pulses in the control pole of the switch (8A, 8B) of the brake controller ;brake off logic (16), which is connected to the input circuit (12) and is configured to prevent the passage of control pulses to the switch control pole (8A, 8B) of the brake controller when the safety signal (13) is disconnected; the safety arrangement of the elevator being characterized by the fact that the drive device (1) comprises indicator logic (17) for forming a signal (18) allowing the start of a course, the indicator logic (17) being configured to activate the signal (18) allowing the start of a stroke when the trip prevention logic (15) and the brake off logic (16) are in a state preventing the passage of control pulses; the indicator logic (17) ) being configured to disconnect the signal (18) allowing the start of a stroke if either of the trip prevention logic (15) and the brake trip logic (16) are in a state allowing the control pulses to pass ; and the triggering device (1) comprising an output (19) for indicating the signal (18) allowing the start of a course for supervisory logic (20) external to the triggering device.
    [0002]
    2. Security arrangement, according to claim 1, characterized in that a data transfer bus (30) is formed between the electronic supervision unit (20) and the actuation device (1), the drive (1) comprising an input for the measurement data of a sensor (27) measuring the moving state of the elevator; wherein the electronic supervision unit (20) is arranged to receive the measurement data from the sensor (27) measuring the movement state of the elevator via the data transfer bus (30) between the electronic supervision unit (20) and the drive device (1).
    [0003]
    3. Safety arrangement, according to claim 1, characterized in that the brake controller (7) is connected to the DC bus (2A, 2B), and in which the switch (8A, 8B) is configured to provide electrical power from the DC bus (2A, 2B) to the control coil (10) of an electromagnetic brake (9).
    [0004]
    4. Safety arrangement, according to claim 1, characterized in that the activation prevention logic (15) is configured to allow the passage of control pulses to the control poles of the switches (4A, 4B) of the motor bridge when the safety signal (13) is connected.
    [0005]
    5. Safety arrangement, according to claim 1, characterized in that the brake shutdown logic (16) is configured to allow the passage of control pulses to the switch control pole (8A, 8B) of the brake controller when the safety signal (13) is connected.
    [0006]
    6. Safety arrangement, according to claim 1, characterized in that the signal (18) allowing the start of a course is conducted from the actuation device (1) to the electronic supervision unit (20); the unit electronic supervision unit (20) being configured to read the status of the signal (18) allowing the start of a course when the safety signal (13) is disconnected, and the electronic supervision unit (20) being arranged to prevent a course with the elevator, if the signal (18) allowing the start of a course is not activated when the safety signal (13) is disconnected.
    [0007]
    7. Safety arrangement, according to any one of the preceding claims, characterized in that the signal path from the control pulses to the control poles of the upper commutators (4A) of the motor bridge move through the logic of trip prevention (15); the supply of electricity to trip prevention logic (15) being arranged via the safety signal path (13).
    [0008]
    8. Safety arrangement, according to any one of the preceding claims, characterized in that the signal path from the control pulses to the control poles of the lower commutators (4B) of the motor bridge move through the logic of trip prevention (15); the supply of electricity to trip prevention logic (15) being arranged via the safety signal path (13).
    [0009]
    9. Safety arrangement, according to claim 1, characterized in that the signal path of the control pulses from the control circuit (5) of the motor bridge to the activation prevention logic (16) is arranged by through an insulator (21).
    [0010]
    10. Safety arrangement, according to claim 1, characterized in that the signal path of the control pulses moves to the switch control pole (8A, 8B) of the brake controller through the shutdown logic (16), and the electricity supply for the brake disconnect logic (16) being arranged through the safety signal path (13).
    [0011]
    11. Safety arrangement, according to claim 1, characterized in that the signal path from the control pulses from the brake control circuit (11) to the brake shutdown logic (16) is arranged through an insulator (22).
    [0012]
    12. Safety arrangement, according to claim 9, characterized by the fact that the isolator (21, 22) is a digital isolator.
    [0013]
    13. Safety arrangement, according to claim 1, characterized in that the activation prevention logic (15) comprises a bipolar or multipolar signal switch (23), through which the control pulses move to the control pole of a switch (4A, 4B) of the motor bridge, wherein one pole of the signal switch (23) is connected to the input circuit (12) such that the signal path of the control pulses through the signal switch (23) is interrupted when the safety signal (13) is disconnected.
    [0014]
    14. Safety arrangement, according to claim 13, characterized in that the signal switch (23) is mounted in connection with the control pole of each upper switch (4A) of the motor bridge.
    [0015]
    15. Safety arrangement, according to claim 13, characterized in that the signal switch (23) is mounted in connection with the control pole of each lower switch (4B) of the motor bridge.
    [0016]
    16. Safety arrangement, according to claim 1, characterized in that the brake disconnect logic (16) comprises a bipolar or multipolar signal switch (24), through which the control pulses move to the control pole of the switch (8A, 8B) of the brake controller, and a pole of the signal switch (24) being connected to the input circuit (12) such that the signal path of the control pulses through the signal switch (24) is interrupted when the safety signal (13) is disconnected.
    [0017]
    17. Safety arrangement, according to claim 7 or 8, characterized in that the supply of electricity occurring through the path of the safety signal (13) is configured to be disconnected upon disconnection of the safety signal (13) .
    [0018]
    18. Safety arrangement, according to claim 1, characterized in that the drive device (1) comprises a rectifier (26) connected between the AC electricity source (25) and the DC bus (2A, 2B).
    [0019]
    19. Safety arrangement, according to claim 1, characterized in that the actuation device (1) is implemented without a single mechanical contactor.
    [0020]
    20. Security arrangement, according to claim 1, characterized in that the security comprises an emergency triggering device (32), which is connected to the DC bus (2A, 2B) of the triggering device; emergency activation device (32) comprising a secondary power source (33), through which electrical power can be supplied to the DC bus (2A, 2B) during a malfunction of the main power source (25) of the electrical system. elevator; and the emergency actuation device (32) and the actuation device (1) being implemented without any mechanical contactors.
    类似技术:
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    法律状态:
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-06-15| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-11-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2022-02-01| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/05/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20125596|2012-05-31|
    FI20125596A|FI123506B|2012-05-31|2012-05-31|Elevator control and elevator safety arrangement|
    PCT/FI2013/050542|WO2013178873A1|2012-05-31|2013-05-20|Safety arrangement of an elevator|
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