CN102923547A - Auxiliary braking device of cordless elevator and control method thereof - Google Patents
Auxiliary braking device of cordless elevator and control method thereof Download PDFInfo
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- CN102923547A CN102923547A CN2012104341627A CN201210434162A CN102923547A CN 102923547 A CN102923547 A CN 102923547A CN 2012104341627 A CN2012104341627 A CN 2012104341627A CN 201210434162 A CN201210434162 A CN 201210434162A CN 102923547 A CN102923547 A CN 102923547A
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Abstract
The invention discloses an auxiliary braking device of a cordless elevator and a control method thereof. A break body is composed of a magnetic shaft, a magnetic insulation front cover, a rear baffle and two lateral walls and encircled into a hollow structure with a cylindrical middle, and the magnetic shaft is arranged in the hollow structure and can rotate in the hollow structure; and the magnetic shaft is cylindrical and formed by two permanent magnets and a magnetic insulation interlayer which is arranged in the middle and fixedly connected with the two permanent magnets, magnetic pole directions of two permanent magnets in a same radial direction are identical, and one end of the magnetic shaft is fixedly connected with a rotating mechanism which is connected with an electronic control unit. During emergency braking, the electronic control unit controls a break boot to be close to a rail, and non-contact vortex braking force is generated between the break boot and the rail; the electronic control unit controls the rotating mechanism to rotate, and magnetic pole attraction is produced between the break boot and the rail, so that the break boot is absorbed on the rail, and friction braking force is generated; and the problem that sufficient braking force cannot be provided under the condition that emergency braking happens to a prior cordless elevator is solved.
Description
Technical field
The present invention relates to a kind of cordless elevator, be specifically related to the brake equipment of cordless elevator.
Background technology
Along with the further raising of Chinese Urbanization degree, demand high-rise and high-rise building is increasing.In these high buildings and large mansions, vertical transit system plays very important effect.Common vertical transit system has lifting rope traction elevator and linear electric motors to drive elevator; wherein; rope-broken accident when occuring in the lifting rope traction elevator; adopt pressing-clamp type braking protection; by spring action gripper rail the bridge railway carriage or compartment is stopped; but also there is the deficiency of two aspects in the lifting rope traction elevator: 1; an elevator hoistways can only move a bridge railway carriage or compartment; want to shorten the time of waiting elevator will increase elevator number of units; the payload space that so just certainly will reduce building has increased cost: 2; for some high-rise buildings; in order to guarantee safety performance; it is longer thicker that the steel rope of traction elevator must become, and also need to increase the power of motor.
The Chinese patent notification number is CN 2545174Y, name is called " elevator that cylindrical linear drives ", scheme at cab top dress safe internal contracting pincers is disclosed, when occuring, uses emergency episode the safe internal contracting clamp brake, its defective is: linear electric motors drive elevator can because have a power failure, drive system failure and other reasons and lose thrust, if the safe internal contracting pincers lost efficacy again, this moment, elevator can be caused danger.And in the emergency braking situation, linear electric motors can't continue to provide enough braking forces.
Although someone proposes to adopt the technological means of multiple power supply and power storage device and usefulness, in case of emergency be aided with again cooperative mechanical braking of regenerative electric power braking, but during the conversion power supply mode, because do not have counterweight and steel rope, elevator can fall with acceleration due to gravity.
Summary of the invention
The present invention proposes a kind of complemental brake system and control method thereof of cordless elevator, its objective is to make cordless elevator in case of emergency can continue to provide enough braking forces, improves the safety performance of cordless elevator.
The technical scheme that the complemental brake system of cordless elevator of the present invention adopts is: comprise the hydraulic pressure energy supplying system, the lock body, the lock boots, lock body and lock boots are between rail and bridge railway carriage or compartment, lock boots captive joint lock body and in the face of rail parallel with rail, have between lock body and the bridge railway carriage or compartment two power transmission guide pillars that make lock body parallel motion and, the lock body is by magnetic axis, the magnetic insulation protecgulum, rear bulkhead and two sidewalls form, the magnetic insulation protecgulum is fixedly connected on the front end of two sidewalls, rear bulkhead is fixedly connected on the rear portion of two sidewalls, the lock boots are captiveed joint with rear bulkhead, two sidewalls, the magnetic insulation protecgulum, it is columniform hollow structure that rear bulkhead surrounds a centre, and magnetic axis is arranged in this hollow structure and can rotates in hollow structure; Magnetic axis by two permanent magnets be positioned in the middle of and captive joint cylindric that the magnetic insulation interlayer of two permanent magnets jointly forms, two permanent magnets are identical in the pole orientation that same footpath makes progress, one end captive joint rotating mechanism of magnetic axis, rotating mechanism connecting electronic control unit; The hydraulic pressure energy supplying system comprises Hydraulic Pump, hydraulic accumulator, electrical motor, petrol storage tank, two three-position four-way valves, two hydraulic actuating cylinders, captiveing joint two hydraulic actuating cylinders with the side, bridge railway carriage or compartment of two power transmission guide pillar homonymies, the piston mouth of two hydraulic actuating cylinders is level attitude and captive joint lock body, Hydraulic Pump connects electrical motor, Hydraulic Pump links to each other with energy storage and forms high pressure oil-feed loop, Hydraulic Pump and petrol storage tank even form the low pressure oil return circuit, high pressure oil-feed loop links to each other with two three-position four-way valves respectively with the low pressure oil return circuit, and the other end of two three-position four-way valves is connected with the chamber, the left and right sides of two hydraulic actuating cylinders respectively; Electronic control unit connects storage battery, and storage battery connects electrical motor, and electronic control unit also connects respectively two three-position four-way valves and various sensor.
The control method of complemental brake system of the present invention is: have following steps:
A, when emergency braking, two three-position four-way valves of electronic control unit control are in left position, hydraulic energy drives the left chamber pushing piston that hydraulic oil liquid enters two hydraulic actuating cylinders and moves right in the energy storage, makes the lock boots near rail, mutually produces the non-contact turbulent flow braking force between lock boots and rail;
B, electronic control unit drive the rotating mechanism rotation, produce magnetic pole gravitation between lock boots and the rail, and the lock boots are pull-in on the rail, produce friction brake force;
C, when cancellation during emergency braking, two three-position four-way valves of electronic control unit control are in right position, hydraulic energy drives right chamber pushing piston that hydraulic oil liquid enters two hydraulic actuating cylinders to left movement in the energy storage, makes the lock body away from rail.
Complemental brake system of the present invention has solved existing cordless elevator can't provide enough braking forces in the emergency braking situation problem, has the advantages such as consumed energy is little, the high speed deceleration and stopping performance is good, non-maintaining.Simultaneously, this complemental brake system is cooperated with the safety mechanical brake equipment, in the emergency braking situation, can make elevator accurately park certain layer, evacuate rapidly the passenger, safe and reliable.
Description of drawings
Describe the present invention in detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is cordless elevator complemental brake system scheme of installation of the present invention;
Fig. 2 is A-A cutaway view Amplified image among Fig. 1;
Fig. 3 be among Fig. 1-2 lock body 2 at the fundamental diagram of stand-by position;
Fig. 4 be among Fig. 1-2 lock body 2 working position fundamental diagram;
1-rail, 2-lock body, 3-rotating mechanism, 4,5-hydraulic actuating cylinder, 6,7-power transmission guide pillar, 8-balance cock, 9,10-three-position four-way valve, 11-electronic control unit, 12-storage battery, 13-sensor, 14-by pass valve, 15-hydraulic accumulator, 16-petrol storage tank, 17-electrical motor, 18-Hydraulic Pump, 19-lock boots, 20-bridge railway carriage or compartment, 21-pressure sensor, 22-low pressure oil return circuit, 23-high pressure oil-feed loop, 24-signal wire (SW), 25-wireless signal receiver, 26-magnetic axis, 27-protecgulum, 28-sidewall, 29-rear bulkhead, the magnetic line of force of 30-conductively-closed, 31-air gap, 33-permanent magnet, 34-magnetic insulation interlayer.
The specific embodiment
Such as Fig. 1, the present invention includes linear pattern permanent magnet braking device, hydraulic pressure energy supplying system, electronic control system and rail 1.
Wherein linear pattern permanent magnet braking device comprises lock body 2, lock boots 19, power transmission guide pillar 6 and 7, rotating mechanism 3.Rail 1 is to be vertically fixed on the hoistway, and lock body 2 and lock boots 19 are arranged between rail 1 and bridge railway carriage or compartment 20, and lock boots 19 are fixedly mounted on the lock body 2, and lock boots 19 are arranged in parallel in the face of rail 1 and with rail 1.Between bridge railway carriage or compartment 20 and the lock body 2 with two power transmission guide pillars 6 with are connected connection, two power transmission guide pillars 6 and 7 are arranged in parallel up and down, two power transmission guide pillars 6 and 7 one ends are equal captives joint that 20 sides, bridge railway carriage or compartment are solid, the equal sliding block joint lock of other end body 2, lock body 2 is moved freely in the horizontal direction, and simultaneously power transmission guide pillar 6 and 7 also plays lock boots 19 and 1 braking force of rail is delivered to effect on the bridge railway carriage or compartment 20.
Fig. 2 is the cross-sectional view of lock body 2, lock body 2 is comprised of magnetic axis 26, magnetic insulation protecgulum 27, rear bulkhead 29 and two sidewalls 28, it is columniform hollow structure that two sidewalls 28, magnetic insulation protecgulum 27, rear bulkheads 29 surround a centre, magnetic axis 26 is arranged in this hollow structure, can in hollow structure, rotate, magnetic insulation protecgulum 27 is fixed on the front end of two sidewalls 28, is used for stoping magnetic circuit to pass through.Rear bulkhead 29 also has the identical function of magnetic insulation protecgulum 27, and rear bulkhead 29 is the rear portions that are fixed on two sidewalls 28.Lock boots 19 are positioned at lock body 2 rear bottoms, and as the wearing plate that lock body 2 contacts with rail 1, lock boots 19 are captiveed joint with rear bulkhead 29.
The hydraulic pressure energy supplying system comprises Hydraulic Pump 18, hydraulic accumulator 15, by pass valve 14, electrical motor 17, petrol storage tank 16, three-position four-way valve 9 and 10, hydraulic actuating cylinder 4 and 5 and hydraulic tubing.Captiveing joint hydraulic actuating cylinder 4 and 5 with 20 sides, bridge railway carriage or compartment of two power transmission guide pillars 6 and 7 homonymies, hydraulic actuating cylinder 4 and 5 piston mouth are level attitude, and horizontal captive joint lock body 2, like this lock body 2 can be between rail 1 and bridge railway carriage or compartment 20 under the effect of hydraulic actuating cylinder 4 and 5 pistons parallel motion.At the top in bridge railway carriage or compartment 20 stationary hydraulic pump 18, energy storage 15, petrol storage tank 16, other Hydraulic Elements also can be fixed on the top in bridge railway carriage or compartment 20.Hydraulic Pump 18 connects electrical motor 17; Hydraulic Pump 18 links to each other with energy storage 15 and forms high pressure oil-feed loop 23, setting pressure sensor 21 on high pressure oil-feed loop 23, Hydraulic Pump 18 links to each other with petrol storage tank 16 and forms low pressure oil return circuit 22, high pressure oil-feed loop 23 links to each other with 10 with three-position four-way valve 9 respectively with low pressure oil return circuit 22, and three-position four-way valve 9 is connected with the chamber, the left and right sides of being connected with hydraulic actuating cylinder 4 respectively with the other end of being connected.Between high pressure oil-feed loop 23 and low pressure oil return circuit 22, connect by pass valve 14, be used for controlling the oil pressure in high pressure oil-feed loop 23, prevent that the oil pressure in high pressure oil-feed loop 23 is higher than limit value.Connecting balanced valve 8 between two hydraulic actuating cylinders 4 and 5 the left chamber, the effect of balance cock 8 are to guarantee that in case of emergency two hydraulic actuating cylinders 4,5 application force are identical.
Electronic control system comprises electronic control unit 11, various sensor 13 etc., electronic control unit 11 connects storage battery 12, storage battery 12 connects electrical motor 17, powered to electrical motor 17 by storage battery 12, electrical motor 17 drives Hydraulic Pump 18 work, hydraulic oil in the petrol storage tank 16 is pumped in the energy storage 15, make its hydraulic energy return to maxim.Electronic control unit 11 also connects respectively various sensors 13, wireless signal receiver and the signal control circuits such as electrical motor 17, rotating mechanism 3, wireless signal receiver 25, three-position four-way valve 9 and 10, bridge railway carriage or compartment speed sensor, bridge railway carriage or compartment position transduser, bridge railway carriage or compartment weight sensor by signal wire (SW) 24.
Fig. 3 is lock body 2 at the scheme drawing of stand-by position, and lock body 2 is in lower inoperative position.Lock boots 19 have 5-7mm apart from rail 1, but the magnetic pole of magnetic axis 26 is by two sidewall 28 short circuits at this moment, so fail to form flux loop between lock boots 19 and rail 1,31 is air gap, and 30 are the magnetic line of force of conductively-closed.
Fig. 4 be lock body 2 at the working position scheme drawing, drive magnetic axis 26 rotations in stand-by when position
, will form different magnetic pole in lock boots 19 both sides this moment, and and rail 1 between produce magnetic pole gravitation, and this gravitation is pull-in on the rail 1 lock boots 19, so finally directly produce braking force between lock boots 19 and rail 1 in the mode that rubs.
The signal that electronic control unit 11 receives from wireless signal receiver 25 during the elevator operation judges whether elevator enters emergency braking condition, namely works as elevator and runs into power failure, drive system fault, breakdown signal can be sent to wireless signal receiver 25.Electronic control unit 11 also receives the information from sensors 13 such as bridge railway carriage or compartment speed sensor, bridge railway carriage or compartment position transduser, bridge railway carriage or compartment weight sensors, control three-position four-way valve 9,10 state and the rotation of rotating mechanism 3.Rotating mechanism 3 is the actuating units that drive the magnetic axis rotation according to electronic control unit 11 braking instructions, can select hydraulic drive or electric power, compressed air-driven.
When the control command of electronic control unit 11 enters mode of operation, electronic control unit 11 control three-position four-way valves 9,10 are in left position, hydraulic energy drives hydraulic oil liquid and enters hydraulic actuating cylinder 4 in the energy storage 15,5 left chamber pushing piston moves right, make lock boots 19 near rail 1, electronic control unit 11 braking instructions drive rotating mechanism 3 rotations, lock boots 19 both sides will form different magnetic poles, and and rail 1 between produce magnetic pole gravitation, and this gravitation is pull-in on the rail 1 lock boots 19, so finally directly produce braking force between lock boots 19 and rail 1 in the mode that rubs.When electronic control unit 11 cancellation emergency braking, electronic control unit 11 control three-position four-way valves 9,10 are in right position, and hydraulic energy drives hydraulic oil liquid and enters hydraulic actuating cylinder 4,5 right chamber pushing piston to left movement in the energy storage 15, makes lock body 2 away from rail 1.
The hydraulic energy that stores in the energy storage 15 enough cordless elevator is finished repeatedly large intensity braking, when the hydraulic energy in the energy storage 15 is lower than certain value, the pressure that electronic control unit 11 detects pressure sensor 21 is lower than preset value, electronic control unit 11 control elevators are failure to actuate, force elevator to rest on bottom
Complemental brake system of the present invention has two kinds of braking modes: non-contact turbulent flow braking, friction braking.
Hydraulic actuating cylinder 4,5 effects make lock body 2 press close to rail 1 and do not contact rail 1, and under the effect of rotating mechanism 3, lock body 2 rotates in lock boots 19, and magnetic line of force forms C/LOOP (namely as shown in Figure 4 working position) in permanent magnet 33 and rail 1.Because lock boots 19 are not fitted with rail 1, because rail 1 is done the relative motion that cutting magnetic induction is answered line, thereby go out current vortex on rail 1 surface and along transversal surface certain depth internal induction, magnetic field can be to producing the resistance that stops its relative motion with electric rail, between lock boots 19 and rail 1, mutually produce braking force, i.e. non-contact turbulent flow braking.
Control hydraulic actuating cylinder 4,5 makes permanent magnet braking device contact rail, under the effect of rotating mechanism 3, lock body 2 rotates in lock boots 19, and magnetic line of force forms C/LOOP in permanent magnet 33 and rail 1, produce so enough attractive force elevators between lock boots 19 bottom surfaces and the rail 1 and slow down rapidly, be i.e. friction braking.
Complemental brake system of the present invention works when elevator needs emergency braking.When cordless elevator because of have a power failure, when the drive system failure and other reasons loses thrust, wireless signal receiver 13 receives breakdown signal, the failure judgement reason is elevator power failure or drive system fault.If elevator power failure adopts the non-contact turbulent flow braking, the anglec of rotation of control lock body 2 realizes the adjusting of braking force, and electronic control unit 11, slowly slows down elevator and waits for that elevator starts backup power as feedback control signal according to bridge railway carriage or compartment speed sensor.
If the drive system fault has judged whether that according to the weight sensor in the bridge railway carriage or compartment passenger is in elevator.Adopt the non-contact turbulent flow braking that elevator is slowly slowed down if there is the passenger then to control complemental brake system, when deceleration of elevator during to nearest one deck, electronic control unit 11 is according to the information of bridge railway carriage or compartment speed sensor and bridge railway carriage or compartment position transduser, the control complemental brake system adopts friction braking, the effect of control mechanical safety device accurately is anchored in this one deck with the bridge railway carriage or compartment, open elevator door and make the passenger leave elevator, close elevator and wait for that the maintainer overhauls; Do not adopt the non-contact turbulent flow braking that elevator is slowly slowed down if there is the passenger then to control complemental brake system, when deceleration of elevator during to bottom, electronic control unit 11 is according to the information of bridge railway carriage or compartment speed sensor and bridge railway carriage or compartment position transduser, the control complemental brake system adopts friction braking, the speed that the bridge railway carriage or compartment is impinged upon on the energy disperser is minimum, closes elevator and waits for that the maintainer overhauls.
Claims (6)
1. the complemental brake system of a cordless elevator, comprise the hydraulic pressure energy supplying system, lock body (2), lock boots (19), lock body (2) and lock boots (19) are positioned between rail (1) and bridge railway carriage or compartment (20), lock boots (19) captive joint lock bodies (2) and in the face of rail (1) parallel with rail (1), two power transmission guide pillars (6 that make lock body (2) parallel motion are arranged between lock body (2) and bridge railway carriage or compartment (20), 7), it is characterized in that: lock body (2) is by magnetic axis (26), magnetic insulation protecgulum (27), rear bulkhead (29) and two sidewalls (28) form, magnetic insulation protecgulum (27) is fixedly connected on the front end of two sidewalls (28), rear bulkhead (29) is fixedly connected on the rear portion of two sidewalls (28), lock boots (19) are captiveed joint with rear bulkhead (29), two sidewalls (28), magnetic insulation protecgulum (27), it is columniform hollow structure that rear bulkhead (29) surrounds a centre, and magnetic axis (26) is arranged in this hollow structure and can rotates in hollow structure; Magnetic axis (26) by two permanent magnets (33) be positioned in the middle of and captive joint cylindric that the magnetic insulation interlayer (34) of two permanent magnets (33) jointly forms, two permanent magnets (33) are identical in the pole orientation that same footpath makes progress, one end captive joint rotating mechanism (3) of magnetic axis (26), rotating mechanism (3) connecting electronic control unit (11); The hydraulic pressure energy supplying system comprises Hydraulic Pump (18), hydraulic accumulator (15), electrical motor (17), petrol storage tank (16), two three-position four-way valves (9,10), two hydraulic actuating cylinders (4,5), with two power transmission guide pillars (6,7) two hydraulic actuating cylinders (4 of captive joint on the side, bridge railway carriage or compartment (20) of homonymy, 5), two hydraulic actuating cylinders (4,5) piston mouth is level attitude and captive joint lock body (2), Hydraulic Pump (18) connects electrical motor (17), Hydraulic Pump (18) links to each other with energy storage (15) and forms high pressure oil-feed loop (23), Hydraulic Pump (18) links to each other with petrol storage tank (16) and forms low pressure oil return circuit (22), high pressure oil-feed loop (23) and low pressure oil return circuit (22) respectively with two three-position four-way valves (9,10) link to each other two three-position four-way valves (9,10) the other end respectively with two hydraulic actuating cylinders (4,5) chamber, the left and right sides connects; Electronic control unit (11) connects storage battery (12), and storage battery (12) connects electrical motor (17), and electronic control unit (11) also connects respectively two three-position four-way valves (9,10) and various sensor.
2. the complemental brake system of a kind of cordless elevator according to claim 1, it is characterized in that: high pressure oil-feed loop (23) is provided with pressure sensor (21).
3. the complemental brake system of a kind of cordless elevator according to claim 1, it is characterized in that: connect by pass valve (14) between high pressure oil-feed loop (23) and the low pressure oil return circuit (22), connecting balanced valve (8) between the left chamber of two hydraulic actuating cylinders (4,5).
4. the control method of the complemental brake system of a cordless elevator as claimed in claim 1 is characterized in that having following steps:
When A, emergency braking, electronic control unit (11) two three-position four-way valves of control (9,10) are in left position, the left chamber pushing piston that the middle hydraulic energy driving of energy storage (15) hydraulic oil liquid enters two hydraulic actuating cylinders (4,5) moves right, make lock boots (19) near rail (1), between lock boots (19) and rail (1), mutually produce the non-contact turbulent flow braking force;
B, electronic control unit (11) drive rotating mechanism (3) rotation, produce magnetic pole gravitation between lock boots (19) and the rail (1), and lock boots (19) are pull-in on the rail 1, produce friction brake force;
C, cancellation emergency braking, electronic control unit (11) two three-position four-way valves of control (9,10) are in right position, the right chamber pushing piston that hydraulic energy driving hydraulic oil liquid enters two hydraulic actuating cylinders (4,5) in the energy storage (15) makes lock body (2) away from rail (1) to left movement.
5. control method according to claim 4 is characterized in that: when electronic control unit (11) drives rotating mechanism (3) rotation, control the anglec of rotation of lock body (2) to realize the adjusting of braking force.
6. control method according to claim 4, it is characterized in that: when the hydraulic energy in the energy storage 15 was lower than certain value, the pressure that electronic control unit (11) detects pressure sensor (21) was lower than preset value, and the control elevator is failure to actuate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210434162.7A CN102923547B (en) | 2012-11-05 | 2012-11-05 | Auxiliary braking device of cordless elevator and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210434162.7A CN102923547B (en) | 2012-11-05 | 2012-11-05 | Auxiliary braking device of cordless elevator and control method thereof |
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| CN102923547A true CN102923547A (en) | 2013-02-13 |
| CN102923547B CN102923547B (en) | 2014-12-03 |
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| CN201210434162.7A Active CN102923547B (en) | 2012-11-05 | 2012-11-05 | Auxiliary braking device of cordless elevator and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103231959A (en) * | 2013-04-11 | 2013-08-07 | 中国特种设备检测研究院 | Permanent magnet eddy current linear braking system for elevator testing |
| CN103420260A (en) * | 2013-07-12 | 2013-12-04 | 河南理工大学 | Stator sectional type permanent magnet linear motor direct-driven hoisting system in distributed type power supply |
| CN106395544A (en) * | 2015-06-30 | 2017-02-15 | 奥的斯电梯公司 | Electromagnetic safety trigger |
| CN107207196A (en) * | 2015-02-04 | 2017-09-26 | 奥的斯电梯公司 | Elevator device apparatus for evaluating |
| CN112678646A (en) * | 2021-01-11 | 2021-04-20 | 安川双菱电梯有限公司 | Elevator with multiple safety protection functions |
| US11066274B2 (en) | 2015-06-30 | 2021-07-20 | Otis Elevator Company | Electromagnetic safety trigger |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103231959A (en) * | 2013-04-11 | 2013-08-07 | 中国特种设备检测研究院 | Permanent magnet eddy current linear braking system for elevator testing |
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| CN106395544B (en) * | 2015-06-30 | 2020-03-31 | 奥的斯电梯公司 | Electromagnetic safety trigger |
| US10654686B2 (en) | 2015-06-30 | 2020-05-19 | Otis Elevator Company | Electromagnetic safety trigger |
| US11066274B2 (en) | 2015-06-30 | 2021-07-20 | Otis Elevator Company | Electromagnetic safety trigger |
| CN112678646A (en) * | 2021-01-11 | 2021-04-20 | 安川双菱电梯有限公司 | Elevator with multiple safety protection functions |
| CN112678646B (en) * | 2021-01-11 | 2022-04-12 | 安川双菱电梯有限公司 | Elevator with multiple safety protection functions |
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| CN102923547B (en) | 2014-12-03 |
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