EP3310699B1 - Sicherheitseinrichtung einer aufzugsanlage - Google Patents

Sicherheitseinrichtung einer aufzugsanlage Download PDF

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Publication number
EP3310699B1
EP3310699B1 EP16730396.5A EP16730396A EP3310699B1 EP 3310699 B1 EP3310699 B1 EP 3310699B1 EP 16730396 A EP16730396 A EP 16730396A EP 3310699 B1 EP3310699 B1 EP 3310699B1
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EP
European Patent Office
Prior art keywords
safety
elevator
elevator car
car
tripping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16730396.5A
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German (de)
English (en)
French (fr)
Other versions
EP3310699A1 (de
Inventor
Michael Krämer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TK Elevator Innovation and Operations GmbH
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TK Elevator Innovation and Operations GmbH
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Publication date
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Publication of EP3310699A1 publication Critical patent/EP3310699A1/de
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Publication of EP3310699B1 publication Critical patent/EP3310699B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/22—Operation of door or gate contacts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0043—Devices enhancing safety during maintenance
    • B66B5/005—Safety of maintenance personnel
    • B66B5/0056—Safety of maintenance personnel by preventing crushing
    • B66B5/0062—Safety of maintenance personnel by preventing crushing by devices, being operable or not, mounted on the elevator car
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0043—Devices enhancing safety during maintenance
    • B66B5/005—Safety of maintenance personnel
    • B66B5/0056—Safety of maintenance personnel by preventing crushing
    • B66B5/0068—Safety of maintenance personnel by preventing crushing by activating the safety brakes when the elevator car exceeds a certain upper or lower position in the elevator shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
    • B66B5/0093—Testing of safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators

Definitions

  • the invention relates to a safety device of an elevator system with a reduced shaft height and an elevator system with such a safety device.
  • Elevator systems have a large number of safety devices in order to prevent uncontrolled movement of a car in the elevator system.
  • safety devices that are used during normal travel of the elevator car and safety devices for maintenance personnel. Normal travel is understood to mean the typical operation of the elevator system when transporting passengers.
  • safety devices for maintenance personnel also cover inspection trips.
  • the inspection run of a car is understood to mean the movement for inspection and maintenance purposes. For example, maintenance personnel can be on the roof of the elevator car during an inspection trip.
  • the EP 2 457 860 A2 discloses a safety device to prevent uncontrolled movement of a car with open doors during normal travel.
  • the U.S. 2009/0288920 A1 discloses an elevator system with a safety zone above and below the car in the respective shaft ends. Two end position switches are provided, one for normal travel and one for inspection travel. In order to determine which end position switch is to be observed in the respective operating mode, the operating mode is read out from the elevator control. If necessary, the car is braked if it is determined by means of the end position switch to be observed that the car is about to enter the respective safety zone.
  • the object of the present invention is to provide an elevator system that ensures both the safety of the passengers during a normal journey and the safety of the maintenance personnel on the car roof during an inspection journey.
  • a safety device By means of the evaluation device, based on output signals from the measuring device, it is possible to recognize that at least one door zone has been left with an open car door or that impermissible accelerations and/or speeds of the car have been reached within the door zone, and a control signal can be generated. due to which the car is braked.
  • the safety device can also be further developed in such a way that, using the evaluation device based on output signals from the measuring device, both the leaving of at least one door zone with an open car door and the reaching of impermissible accelerations and/or speeds of the car within the door zone can be detected and a control signal can be generated is due to which the car is braked.
  • the safety device has a safety circuit connected to the evaluation device to ensure a first safe zone in the shaft head of an elevator shaft during an inspection run.
  • the safety circuit has a safety switch and the car includes a triggering device for triggering the safety switch.
  • the safety switch and the triggering means have a first position relative to one another, in which their position relative to one another defines the first safe zone in the elevator shaft, so that the car can be prevented from entering the first safe zone during the inspection trip by triggering the safety switch by using the evaluation device can generate the same control signal due to the triggering of the safety switch, on the basis of which the elevator car is braked.
  • the position of the safety switch and/or the triggering device can be changed and can have a second position relative to one another, in which their position relative to one another defines a second safe zone in the elevator shaft, so that an elevator car can enter the second safe zone during normal travel Triggering of the safety switch can be prevented.
  • the evaluation device can generate the same control signal on the basis of which the elevator car is braked.
  • This variant has the additional advantage that the safety circuit is also used during normal travel. Even with normal driving it is necessary to provide a second safe zone in the chess head, into which the car cannot enter.
  • the second secure zone has a vertical extent that is less than the vertical extent of the first secure zone. This is typically solved by providing an additional mechanism. This can be a limit switch on the counterweight buffer, for example. The simultaneous use of the safety circuit for this purpose makes it possible to dispense with the additional mechanism.
  • the safety device ensures both braking during normal travel with the doors open and braking of the elevator car during an inspection travel, the number of safety-relevant components in the elevator installation can be reduced. According to the structural regulations, it is necessary for the safety device to bring the car to a standstill within a predefined stopping distance in the event of an unintentional journey with the doors open. This stopping distance must be guaranteed for all possible states of the elevator system, for example for all possible loads in the elevator car. In order to ensure this, the entire safety chain between the triggering of the measuring device, evaluation of output signals from the measuring device by an evaluation device, up to the activation of a braking mechanism by the evaluation device and the braking behavior of the braking mechanism must be checked and calculated separately.
  • any time delay in the evaluation of the output signals leads to a longer stopping distance.
  • This check and calculation must be carried out for all load situations, since, for example, the braking effect of the braking mechanism depends on the loading status of the car. Accordingly, it is also necessary for the elevator car to be brought to a standstill in good time by the safety device during an inspection trip, so that there is always sufficient safety space on the roof of the elevator car for the maintenance personnel. The same complex calculation and testing of the safety chain is required for this in order to be able to guarantee compliance with the specified stopping distance.
  • the partial combination of the two safety chains (from the evaluation unit to the braking mechanism) according to the invention significantly reduces the effort involved in testing and calculating the corresponding components. Since the evaluation device generates the identical control signal for the braking mechanism in both cases (travel with open doors outside a door zone, undesired entry into the shaft head), the maximum stopping distance is also identical in both cases.
  • the triggering means for triggering the safety switch is in particular an emergency limit switch curve.
  • the safety switch and the emergency limit switch curve engage with each other. Due to the slight inclination to the vertical, the safety switch is moved the more the more the car enters the shaft head. From a certain vertical position of the car and thus the emergency limit switch curve, this triggers the safety switch.
  • control signal is designed to switch off the drive motor.
  • control signal can be suitable for causing a short circuit in the drive motor. This leads to a particularly quick shutdown of the drive motor.
  • control signal is designed to bring about application of the service brake.
  • the service brake can in particular be approved as a safety brake, such as in the case of gearless drives.
  • the position can be changed, for example, by designing the safety switch or the triggering means to be displaceable.
  • the triggering means is designed in such a way that it can be displaced in a receptacle on the elevator car and can latch with the receptacle both in the first position and in the second position.
  • the triggering means for triggering the safety switch relative to the elevator car can be adjusted between the first position and the second position in the vertical direction such that the vertical extent of the first safe zone is greater than the vertical extent of the second safe zone.
  • the adjustment of the triggering means in the vertical direction is a variant that is structurally particularly easy to implement.
  • the release means can be reached much more easily by maintenance personnel, since it is connected to the elevator car. The release means can therefore be moved from the first to the second position in a simple manner by the maintenance personnel. If, for example, the triggering means is an emergency limit switch curve, the adjustability can be implemented by simply pulling the emergency limit switch curve up and locking it in the second position.
  • the safety circuit also includes a switch for monitoring the position of the triggering means.
  • the switch is also in signal connection with the evaluation device.
  • the evaluation device When the switch is triggered due to an unintentional adjustment of the triggering means, the evaluation device generates a control signal, on the basis of which the elevator car is braked. In this way it is ensured that the elevator installation is switched off in the event of an inadvertent adjustment of the triggering means, since the elevator installation is no longer in the safe operating mode.
  • the invention also relates to an elevator system with a prescribed safety device. This has the same advantages as explained above with reference to the safety device.
  • the car has a railing on a car roof, which can be moved between a first position and a second position in is adjustable in the vertical direction.
  • the railing is intended to prevent maintenance personnel from being too close to the edge of the car roof during an inspection run. In some cases, the installation of such a railing is necessary due to building regulations.
  • the adjustability has the advantage that, on the one hand, the railing has a sufficient height during an inspection run, so that its safety purpose can be fulfilled. On the other hand, the car can still drive far into the shaft head during normal travel without being prevented by the height of the railing.
  • the safety circuit includes an additional switch that monitors the position of the railing.
  • the switch is in signal connection with the evaluation unit. This has the advantage that if the railing is unintentionally displaced (for example from the second position towards the first position), the switch is triggered. Due to the triggering of the switch, the evaluation device then generates a control signal, on the basis of which the elevator car is braked. This prevents the inspection drive from being continued in an unsafe operating mode.
  • the railing is coupled to the triggering device in such a way that the railing and the triggering device can only be adjusted together between the first and second positions.
  • the coupling can consist in the fact that the triggering means is attached to the railing. The coupling has the advantage that the maintenance personnel can move both the railing and the triggering means from the first to the second position with just one movement before starting an inspection run. This accelerates the start of maintenance work.
  • the invention also relates to a method for operating an elevator system with a car and a prescribed safety device.
  • the evaluation device recognizes in a normal mode based on the output signal of the measuring device that at least one door zone has been left with an open car door or that impermissible accelerations and/or speeds of the car have been reached within the door zone. As soon as such an unintended journey is detected, the evaluation device generates a control signal, on the basis of which the elevator car is braked.
  • the normal mode the usual operation of the elevator system in the carriage understood by passengers. Normal journeys are thus carried out during the normal mode.
  • the evaluation device detects a triggering of the safety switch and, as a result, generates the same control signal, so that the car is braked.
  • An inspection mode is understood to mean operation of the elevator system for inspection and maintenance purposes. No passengers are transported in inspection mode. Consequently, inspection trips are carried out during the inspection mode, during which, for example, maintenance personnel can be located on the roof of the elevator car. The method has the same advantages as explained above with reference to the safety device.
  • figure 1 is a schematic representation of an elevator installation 1 with an elevator car 3, which can be moved up and down in a vertical direction in an elevator shaft 7 by means of a drive device 5, whereby it stops at various stops, of which in figure 1 only three stops 9, 11, 13 are shown, can stop to be loaded and unloaded.
  • the drive device 5 comprises a drive motor 15 which is controlled by a control unit 17 , a supply voltage being provided to the drive motor 15 via the control unit 17 .
  • the drive device 5 includes a traction sheave 19 which is set in rotation by the drive motor 15 .
  • a rope 21 is guided around the traction sheave 19 and connects the car 3 to a counterweight 23.
  • the traction sheave 19 is a Assigned service brake 25, which is just like the control unit 17 connected to an elevator control 27.
  • zone flags 29 are arranged in the elevator shaft 7, which can be detected by a door zone sensor 31.
  • the door zone sensor 31 is fixed to the car 3 and connected to the elevator control 27 .
  • the zone flag 29 specifies a door zone. As long as the door zone sensor 31 detects the zone flag 29, the car 3 is within the door zone.
  • the car 3 can be moved in the elevator shaft 7 by means of the drive device 5 .
  • the elevator car 3 can assume a position flush with a stop 9, 11, 13.
  • the weight of the car 3 changes as a result of the loading and unloading. This can lead to the car 3 changing its position relative to the stops 9, 11, 13 slightly.
  • the position of the elevator car 3 can then be readjusted relative to the respective stop 9, 11, 13 by activating the drive device 5.
  • the adjustment movement takes place at a very low speed and very low acceleration within the door zone, which is defined by the zone flag 29 .
  • the car door 33 can already be opened before the car 3 has reached its flush position.
  • the car door 33 can be opened as soon as the door zone sensor 31 detects the zone flag 29 .
  • exactly one door zone is defined for each stop 9, 11, 13.
  • a first door zone can be defined for the adjustment movement and a second door zone for entering a stop.
  • the safety device includes an evaluation unit 35 which is formed by the elevator control 27 and the control device 17 . Elevator controller 27 and control device 17 are connected to one another for this purpose with a signal connection (bidirectional electrical connection). If the elevator controller 27 receives the signal from the door zone sensor 31 that the car 3 is leaving the door zone, and if the elevator controller 27 receives it from the door sensors 37 and/or 39 at the same time the signal that at least one door leaf is not closed, the evaluation device 35 generates a control signal on the basis of which the elevator car 3 is braked. For this purpose, the evaluation device 35 has a signal connection with the service brake 25 and the drive device 5. The zone flag 29, the door zone sensor 31 and the door sensors 37, 39 are therefore part of the measuring device 45 for monitoring the car status.
  • control signal is that the service brake 25 is activated and also that the drive motor 15 is switched off. It is also possible that the control signal only activates the service brake 25 or only switches off the drive motor 15 . Other known braking methods for a car 3 based on the control signal are also possible.
  • FIG. 12 shows a representation of the shaft head 47 of an elevator shaft 7.
  • the elevator car 3 is located in the elevator shaft 7.
  • the elevator car 3 can be moved along the guide rails 57 in the elevator shaft 7.
  • FIG. in the in figure 2 illustrated operating mode the elevator car 3 carries out an inspection trip.
  • An emergency limit switch curve 49 is arranged on the car 3 .
  • the emergency switch curve 49 triggers the safety switch 51, which is connected to the shaft wall in the shaft head 47.
  • the safety switch 51 is part of a safety circuit that is connected to the evaluation device 35 . Due to the triggering of the safety switch 51, the evaluation device 35 generates the control signal on the basis of which the elevator car 3 is braked.
  • a first safe zone 53 is specified in the shaft head 47, into which the car 3 cannot enter during the inspection run. Maintenance personnel who are on the car 3 during the inspection journey are thus secured against being crushed between the car 3 and the end 59 of the elevator shaft.
  • a significantly larger safety space above the car roof must be ensured for an inspection trip, since maintenance personnel can be on the car roof.
  • the elevator car still covers a certain stopping distance 55 between the triggering of the safety switch 51 and the complete standstill of the elevator car 3 .
  • the length of the stopping path 55 must be precisely known and also reproducible. All components that influence the length of the stopping distance 55 must be precisely determined and checked.
  • a special test or separate certification of the components is required for this.
  • these are the service brake 25, the drive motor 15 and the signal connection to these components.
  • the evaluation device 35 generates the same control signal with which the car 3 is also braked when driving with the door leaves open outside a door zone.
  • figure 3 shows the same shaft head 47 during normal travel of the elevator car 3 in an embodiment variant that is not according to the invention.
  • the emergency limit switch curve 49 is offset downwards in the vertical direction in relation to the car 3 .
  • the emergency limit switch cam 49 and the safety switch 51 thus have a second position relative to one another. In this second position, the elevator car 3 can move much further into the shaft head 47 and thus into the first safe zone without triggering the safety switch 51 .
  • the distance between the car 3 and the end of the elevator shaft 59 is significantly smaller than in the illustration figure 2 . In this case, the end position of the elevator car 3 is ensured by an additional mechanism. This can be a known limit switch on the counterweight buffer, for example.
  • the safety circuit with the safety switch 51 is therefore inactive.
  • the safety circuit has a switch 61 that continuously monitors the position of the emergency limit switch -Curve 49 monitored.
  • the evaluation device 35 When the emergency limit switch curve 49 is displaced, the evaluation device 35 generates a control signal based on the triggering of the switch 61, on the basis of which the elevator car 3 is braked.
  • the maintenance personnel go onto the roof of the elevator car 3 and move the emergency limit switch cam 49 from the second position to the first position. This activates the switch 61, activates the safety circuit and prevents the car 3 from entering the first safe zone. An inspection run can only be carried out after the safety circuit has been activated. After completion of the For maintenance work, the emergency limit switch curve 49 is returned to the second position so that the car 3 can enter the first safe zone again.
  • FIG 4 shows a variant of the elevator system 1 according to the invention during normal travel of the car 3.
  • the emergency limit switch curve 49 is offset downwards in relation to the car 3.
  • the emergency limit switch curve 49 and the safety switch 51 thus have a second position relative to one another.
  • the safety circuit is also active during normal travel and determines the end position of the car 3 in the elevator shaft 7 . Consequently, no additional mechanism is required to ensure the end position of the elevator car 3 .
  • the safety switch 51 and the emergency limit switch curve 49 specify a second safe zone 63 in the elevator shaft through their position relative to one another, so that the car 3 is prevented from entering the second safe zone 63 during normal travel by triggering the safety switch 51.
  • the first safe zone 53 has a vertical extent that is greater than the vertical extent of the second safe zone 63 based on a comparison of FIG figures 2 and 4 is clearly recognizable.
  • the same emergency limit switch curve 49 that appears during an inspection run ( figure 2 ) prevents the car 3 from entering the first safe zone 53, also prevents during normal travel ( figure 4 ) driving car 3 into the second safe zone 63. In both cases, the emergency limit switch curve 49 triggers the safety switch 51, whereupon the evaluation device 35 generates the control signal, on the basis of which the car 3 is braked.
  • the car 3 has a railing 65 on the car roof (also shown in FIGS Figures 2 to 4 shown).
  • a railing 65 can be absolutely necessary due to building regulations during an inspection trip.
  • the railing 65 can, for example, be designed to be foldable, so that it is only folded out during an inspection trip, or it can be designed to be variable in height, as is shown in FIGS Figures 2-4 is shown.
  • an inspection drive figure 2
  • the railing 65 is in a first position, thus preventing maintenance personnel from getting too close to the edge of the car roof and ensuring that it does not fall.
  • a normal drive figure 3 or. figure 4
  • the railing 65 in a second position in which it has a significantly smaller vertical extent. The car can therefore move much further into the shaft head than would be possible with the railing in the first position
  • the safety circuit has a switch 67 which continuously monitors the position of the railing 65 .
  • the evaluation device 35 When the railing 65 is displaced, the evaluation device 35 generates a control signal based on the triggering of the switch 67, on the basis of which the elevator car 3 is braked.
  • the maintenance personnel go onto the roof of the car 3 and move the railing 65 from the second position to the first position.
  • the switch 67 is triggered, the safety circuit is activated and the elevator car 3 is prevented from entering the first safe zone 53 .
  • An inspection run can only be carried out after the safety circuit has been activated.
  • the railing 65 is brought back into the second position, so that the elevator car 3 can enter the first safe zone again.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
EP16730396.5A 2015-06-22 2016-06-20 Sicherheitseinrichtung einer aufzugsanlage Active EP3310699B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015211488.0A DE102015211488A1 (de) 2015-06-22 2015-06-22 Sicherheitseinrichtung einer Aufzugsanlage
PCT/EP2016/064209 WO2016207116A1 (de) 2015-06-22 2016-06-20 Sicherheitseinrichtung einer aufzugsanlage

Publications (2)

Publication Number Publication Date
EP3310699A1 EP3310699A1 (de) 2018-04-25
EP3310699B1 true EP3310699B1 (de) 2023-08-30

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Country Link
US (1) US10640330B2 (es)
EP (1) EP3310699B1 (es)
KR (1) KR102054600B1 (es)
CN (1) CN107848745B (es)
DE (1) DE102015211488A1 (es)
ES (1) ES2964771T3 (es)
FI (1) FI3310699T3 (es)
WO (1) WO2016207116A1 (es)

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CN107848745A (zh) 2018-03-27
KR20180019710A (ko) 2018-02-26
DE102015211488A1 (de) 2016-12-22
WO2016207116A1 (de) 2016-12-29
US20180186600A1 (en) 2018-07-05
US10640330B2 (en) 2020-05-05
CN107848745B (zh) 2020-09-08
KR102054600B1 (ko) 2019-12-10
FI3310699T3 (fi) 2023-11-28
EP3310699A1 (de) 2018-04-25
ES2964771T3 (es) 2024-04-09

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