CN108290717A - Control the method for elevator, elevator and control elevator driver control device - Google Patents
Control the method for elevator, elevator and control elevator driver control device Download PDFInfo
- Publication number
- CN108290717A CN108290717A CN201680070349.XA CN201680070349A CN108290717A CN 108290717 A CN108290717 A CN 108290717A CN 201680070349 A CN201680070349 A CN 201680070349A CN 108290717 A CN108290717 A CN 108290717A
- Authority
- CN
- China
- Prior art keywords
- elevator
- raising cord
- hoisting
- hoisting container
- driver
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008859 change Effects 0.000 claims abstract description 23
- 230000008901 benefit Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims description 2
- 230000008602 contraction Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 8
- 230000010355 oscillation Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002730 additional effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips
Abstract
Method that the present invention relates to a kind of for controling elevator (2), elevator in particular for shaft hoisting system, elevator include：Driver (4) with the control device (6) attached；Rigging frame (8)；At least one raising cord (10)；With, it is at least one be arranged in it is on raising cord (10), for vertically convey conveying object hoisting container (12,14).When hoisting container (12,14) load, raising cord (10) is because the weight of hoisting container (12,14) increases and extends.When hoisting container (12,14) unload, raising cord (10) and contraction.In order to ensure the altimetric compensation when loading and unloading at least one hoisting container, during load or unload, driver (4) remains up, and the rotation angle (α) in order to compensate for the change rigging frame (8) of raising cord length is continually adjusted on the basis of scheduled rotation angle trend.
Description
Technical field
The present invention relates to it is a kind of for control elevator, in particular for shaft hoisting system elevator method, carry
Rise machine include：Driver with the control device attached；Rigging frame；At least one raising cord；With at least one be arranged in carries
Rise hoisting container on rope, for vertically conveying conveying object.The invention further relates to a kind of elevators and one kind for driving
Control the control device of the driver of elevator.
Background technology
This elevator in 10 2,004 058 757 A1 of DE for example by proposing.One is described in the prior art this
Kind shaft hoisting system, it has and motor is in the rope disk of connection, and rope disk guides the raising cord for conveying object.In addition, perpendicular
Equipped at least one pulse counter, it derives current shift value from rotary motion and obtains defeated well lifting system
Send the current speed value of object.In addition, shaft hoisting system is controlled and/or is monitored by electrical automation system, wherein automatic
Change system is in order to run and have the traveling adjuster of number, for the regulating calculation rated value for motor.
Elevator generally existing problems with for mining, that is, during hoisting container loads, raising cord is because promoted
The weight increase of container extends sometimes until 1.5m or longer.This value and raising cord length, the number of loading capacity and raising cord
Amount is related.In principle, the purpose of all elevator manufacturers is will to be kept as the load time short as much as possible.Therefore, raising cord
Elongation occurred within several seconds time when lifting system is run.When hoisting container unloads, because weight is reduced so that
Raising cord is shunk once more in a short time.
Raising cord length brings a series of disadvantage.Hoisting container and in turn raising cord start vertically to vibrate.In addition,
Hoisting container leaves best loading position in loading procedure and moves down.Additionally there is secondary efficacy：Raising cord shakes
It swings and the speed and torque adjusting of driver is adversely affected, and the service life of raising cord may be negatively affected.Because
This vertical oscillation, it may be necessary to extend it creep stroke or reduce acceleration, with minimize mechanical mechanism abrasion or
It avoids damaging.The oscillation of appearance level during additionally may being extraly to travel in vertical shaft.Be loaded with uninstall process and
Speech is in addition it is also contemplated that when hoisting container is when except optimum position, then material may be dropped to from by hoisting container in vertical shaft.
Invention content
Therefore, the present invention is based on following purposes, and hoisting container is ensured during loading the hoisting container with unloading elevator
Altimetric compensation.
The purpose is according to the present invention by a kind of for controling elevator, promotion in particular for shaft hoisting system
The method of machine is addressed, and elevator includes：Driver with the control device attached,；Rigging frame；At least one promotion
Rope；With, it is at least one be arranged in it is on raising cord, for vertical transport convey object hoisting container, wherein in load or unload
During at least one hoisting container, driver remains up, and in order to compensate for the change of raising cord length, the rotation of rigging frame
Angle constantly adjusts on the basis of preset rotation angle trend.
In addition, the purpose is obtained according to the present invention by a kind of elevator, in particular for the elevator of shaft hoisting system
To solve, it includes the driver with the control device for being adapted for carrying out preceding method.
Finally, the purpose according to the present invention also by it is a kind of for control elevator, in particular for shaft hoisting system
The control device of the driver of the elevator of system is addressed, and it is suitable for executing preceding method.
The advantages of being explained below about method and preferred structural scheme can substantially be transferred to driver and control
On device processed.
The basic conception of the present invention is, by moving hoisting container on the direction of driver with corresponding speed, because
The elongation of raising cord and caused by hoisting container can be compensated relative to the vertical dislocation of load situation.It is unloaded in hoisting container
When, hoisting container moves away from driver with can be reversed, because raising cord is shunk again based on smaller and smaller load.As
The regulated quantity for controlling elevator, is preset with the rotation angle or speed rated value of rigging frame herein, to pass through the rotation of rigging frame
Change raising cord length.So that hoisting container is retained on its optimum load position and does not trigger vertical oscillation.
To achieve it, during load or uninstall process, the current transformer of driver or elevator remains up.Especially
It is the brake apparatus for not using machinery, so as to avoid the abrasion of braking member.Therefore it also avoids because of use and pine
The downtime opened brake apparatus and generated, and shorten the duration for promoting the period.
Required for this compensation process, rigging frame rotation angle trend is scheduled and stored herein.Especially
It is to be stored with speed rated value curve, is calculated on the basis of it and is applied to driver during load or unload process
Rated moment trend.Driver controls rigging frame from the change aspect in rotation angle.
The compensation of line stretch is promoted by being realized with control technology, the characteristic of this method in particular, in that accurately rated value and
Simply installation additional property and calibration.Another advantage is that nominal torque (holding torque) is will be relatively slowly formed.Torque is formed
Equably complete (to compare, in the case where opening brake apparatus, torque is formed usually at about 200 milliseconds in 20 to 30 seconds
Interior completion).So that not only for the impact load smaller of electrical system (transformer, current transformer, motor), and make pair
In the impact load also smaller of the mechanical component of elevator.
According to a kind of preferred embodiment, rotation angle trend is obtained by following, that is, is operated first the braking of elevator
Device, and the change of raising cord length is measured at least one hoisting container load or unload, and thus calculate branch
The rotation angle trend of rope frame.Here, vertical hoisting container dislocation is not being installed by driver in the scope of controlled motion
It is compensated in the case of the other sensors measured to the actual value of elevator.This method can be used in most of promoted
In machine, because loading procedure is usually always the same, and loads and substantially linearly carry out.
In terms of the simplification of method and saving the time, the measurement of the change of raising cord length is being installed or maintained
It is completed in the scope of work.Therefore the dislocation of hoisting container need not be continuously determined, but the rotation angle trend compensated is straight
The characteristic quantity and parameter that ground connection is either associated indirectly, i.e. as itself or others, such as disposably promoted
Machine is obtained and is stored when starting.Elevator is repaired afterwards and when maintenance work, the data obtained can be by again
Calibration.
It may happen that because different height of the hoisting container in load and in unloading carries over these locations
Extension and the relaxation for rising rope are different from each other.In terms of the length that, needs different to these compensate carries out the optimal compensation, preferably
The first measured value is measured for the change of raising cord length when at least one hoisting container loads, then at least one promotion
The second measured value is measured for the change of raising cord length when container unloads, and there are deviations between the two measured values
When, determine to be compensated change of the average value as raising cord length of two measured values.
Expediently, elevator has at least two hoisting containers and all hoisting containers is carried out long to raising cord
The compensation of the change of degree.Thereby, it is ensured that the especially reliable and efficient operation of elevator.
Preferably, there are two hoisting containers for lifting machinery, and the load of one of hoisting container is promoted with another
The unloading of container is carried out at the same time.Thus particularly advantageous synergistic effect is generated, wherein transport by unique single compensation of driver
The dynamic raising cord for just not only counteracting one side of hoisting container to be loaded extends but also also cancels out hoisting container one to be unloaded
The contraction of the raising cord of side.
Specific implementation mode
One embodiment of the present of invention is described in detail by attached drawing.Here, unique attached drawing shows use extremely simplely
In the elevator 2 of shaft hoisting system.Elevator has driver 4, it is controled by control device 6.In the shown embodiment, it carries
Rising machine 2 further includes：The rigging frame 8 driven by driver 4；And tool there are two hoisting container 12,14 raising cord 10, for
Vertically convey not detailed conveying object, such as coal or the ore shown herein.But hoisting container 12,14 can also be used for
Convey people.
In the shown embodiment, it illustrate only a raising cord.It is also possible, however, to use multiple raising cords are to hang phase
The hoisting container 12,14 answered.
Elevator 2 is at this suitable for conveying conveys object between 200m to 4000m the not detailed vertical shaft shown.It is promoted
The deeper anchor point H of container 12,14 at runtime usually in the shaft2Place is alternately carried out load, be delivered up and compared with
High anchor point H1Place's unloading.Here, load or unload is carried out with about 1 ton/second, until 80 tons.
Following scenario described is shown in the accompanying drawings, wherein hoisting container 12 is unloaded in the left side of elevator 2, and is promoted
Container 14 is loaded simultaneously on right side.Due to the unloading of hoisting container 12, weight of the rigging frame 8 in this side is reduced, to make
It uses that the power on raising cord 10 gradually becomes smaller and raising cord 10 is shunk, vertically reaches high bit to hoisting container 12
It sets, is indicated with pecked line in figure.This in figure by above hoisting container 12 in 10 region of raising cord relaxation spring come
It indicates.
On the right side of rigging frame 8, similar process is completed while loading hoisting container 14, however is opposite
On direction.Since the weight in hoisting container 14 is continuously increased, the power persistently to become larger is applied to downwards on raising cord 10, to carry
It rises rope 10 to extend, symbolically be shown by the spring of tensioning.According to the weight of raising cord length and conveying object, raising cord 10 can
With elongation until 1.5m.In the case of no external action, here, hoisting container 14 can occupy deep place, which exists
It is indicated with pecked line in figure.
In order to offset the change of the raising cord length when unloading hoisting container 12, rigging frame 8 by uninstall process still
The driver 4 so connected rotates as follows, that is, hoisting container 12 is separate with speed identical with " upward " movement of hoisting container 12
Rigging frame 8 is to downward driving.For this purpose, driver 4 keeps active during load or unload.Particular without operation elevator 2
The not detailed brake apparatus shown herein.Scheduled nominal torque is continuously applied to driver 4 by control device 6, this is specified
Torque causes the rotation of rigging frame 8.The movement of rigging frame 8 is indicated in figure by angle α.Rigging frame 8 is led around the rotation of angle of entry α
It causes, during unloading, although raising cord 10 constantly shortens, hoisting container 12 always remains at identical upright position H1On.
14 1 side of hoisting container to be loaded line stretch by being compensated below, i.e., situation also active in driver 4
Under, hoisting container 14 is moved with corresponding speed on the direction of rigging frame 8.The compensation campaign of rigging frame 8 as a result, carrying
It rises container 14 and is equally maintained at identical upright position H during overall loading procedure2On.
In the shown embodiment, two hoisting containers 12,14 are concurrently unloaded or are loaded, therefore, rigging frame 8 with angle α into
Row rotation is just enough to compensate the change of the raising cord length of 8 both sides of rigging frame simultaneously.Nominal torque herein can during the process
Its direction can be changed.
The average guy cable length per 1000m of raising cord 10 extends about 1m.Load continue it is 0.5 to 1 second about per ton.Cause
This, elevator 2 is moved about 20 seconds with the speed of about 0.05 meter per second.
When elevator 2 includes multiple hoisting containers 12,14 and load or unload is not carried out at the same time, then driver 4
It is just alternately controled, to compensate the corresponding vertical dislocation of the hoisting container just used.This is equally applicable to only have
The elevator 2 of one hoisting container and a counterweight：According to the position H of hoisting container1、H2Change the direction of rotation of rigging frame 8.
The elongation of raising cord 10 is not only measured when being relevant to hoisting container 12,14 but also when measuring its relaxation, it can
Happens is that based on hoisting container in load and the different height H in unloading1、H2, the extension and relaxation of raising cord are mutually not
Together.Therefore the first measured value especially is measured for the change of raising cord length in load, is then raising cord in unloading
The second measured value is measured in the change of length, and while having deviation between two measured values finds out the average value of two measured values
And the average value is considered as value to be compensated.
For compensate raising cord 10 length change required rotation angle α by disposably or with it is larger, be up to
Time interval determination when hundreds of operations, and for the normal operation of lifting system 2 and for the directionality tune of elevator 2
The form of the parameter of section stores.For this purpose, measuring the elongation of raising cord 10 first.Measurement can be completed in loading procedure.Supplement
Ground or as an alternative, can measure the contraction of raising cord 10 in uninstall process.Based on about raising cord 10 load and/or
The information of elongation when unloading obtains speed rated value curve (with the displacement of time) in the shown embodiment, it is formed in
The basis of drive control when elevator 2 is run.It is that driver 4 calculates by control device 6 based on speed rated value curve
The trend of the nominal torque on driver 4 is applied to when operation.
Since the position of hoisting container 12,14 remains unchanged, it will not especially cause vertical oscillation, correspondingly, corresponding
Next driving cycle the startup without friction of elevator 2 is realized when starting.Rope load also becomes smaller.In addition, described
Method also improves productivity, because not due to downtime and can be fast caused by access and release mechanism brake apparatus
Start fastly.
Claims (8)
1. one kind for controling elevator (2), the method for elevator in particular for shaft hoisting system, the elevator
Including：Driver (4) with the control device (6) attached；Rigging frame (8)；At least one raising cord (10)；With at least one
It is a to be arranged in hoisting container (12,14) on the raising cord (10), for vertically conveying conveying object, which is characterized in that
In at least one hoisting container (12,14) load or unload, the driver (4) remains up, and in order to compensate for
The rotation angle (α) of the change of raising cord length, the rigging frame (8) is continuously adjusted on the basis of scheduled rotation angle trend
It is whole.
2. according to the method described in claim 1, it is characterized in that, brake apparatus by being operated first the elevator (2)
And the change of the raising cord length and thus is measured at least one hoisting container (12,14) load or unload
Rotation angle trend is calculated for the rigging frame (8), obtains rotation angle trend.
3. according to the method described in claim 2, it is characterized in that, to the measurement of the change of the raising cord length in installation or
It is carried out in the scope of maintenance work.
4. the method according to any one of Claims 2 or 3, which is characterized in that at least one hoisting container
(12,14) the first measured value is measured for the change of the raising cord length when loading, is unloaded at least one hoisting container
The second measured value is measured in change when load for the raising cord length, and while having deviation between two measured values determines this
To be compensated change of the average value of two measured values as the raising cord length.
5. according to any method of the preceding claims, which is characterized in that the elevator (2) has at least two
Hoisting container (12,14), and the benefit of the change to the raising cord length is carried out for all hoisting containers (12,14)
It repays.
6. according to the method described in claim 5, it is characterized in that, the elevator (2) tool there are two hoisting container (12,
, and the load of a hoisting container in these hoisting containers (12,14) and unloading for another hoisting container (12,14) 14)
Load is carried out at the same time.
7. a kind of elevator (2), in particular for the elevator of shaft hoisting system, includes the driving with control device (6)
Device (4), the control device are adapted for carrying out according to any method of the preceding claims.
8. one kind is for controling elevator (2), being filled in particular for the control of the driver (4) of the elevator of shaft hoisting system
(6) are set, method according to any one of claim 1 to 6 is adapted for carrying out.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15197467.2A EP3176122A1 (en) | 2015-12-02 | 2015-12-02 | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
| EP15197467.2 | 2015-12-02 | ||
| PCT/EP2016/076500 WO2017092959A1 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108290717A true CN108290717A (en) | 2018-07-17 |
| CN108290717B CN108290717B (en) | 2019-12-06 |
Family
ID=55022255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680070349.XA Active CN108290717B (en) | 2015-12-02 | 2016-11-03 | Elevator driving and controlling method, elevator and control device for driving and controlling elevator driver |
Country Status (10)
| Country | Link |
|---|---|
| EP (2) | EP3176122A1 (en) |
| CN (1) | CN108290717B (en) |
| AU (1) | AU2016363478B2 (en) |
| CA (1) | CA3006961C (en) |
| LT (1) | LT3365262T (en) |
| PL (1) | PL3365262T3 (en) |
| RS (1) | RS59438B1 (en) |
| RU (1) | RU2700906C1 (en) |
| WO (1) | WO2017092959A1 (en) |
| ZA (1) | ZA201803558B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232781A (en) * | 1998-03-12 | 1999-10-27 | 株式会社东芝 | Traction elevator |
| CN1738761A (en) * | 2003-01-11 | 2006-02-22 | 催正斗 | Apparatus for equalizing tension of main ropes of elevator |
| CN1771185A (en) * | 2003-05-30 | 2006-05-10 | 奥蒂斯电梯公司 | Tie-down compensation structure for an elevator system |
| CN101959783A (en) * | 2008-02-26 | 2011-01-26 | 奥蒂斯电梯公司 | Dynamic compensation during elevator car re-leveling |
| CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
| CN104140019A (en) * | 2014-07-07 | 2014-11-12 | 日立电梯（中国）有限公司 | Control device and control method of elevator lift car position |
| CN104995117A (en) * | 2013-02-04 | 2015-10-21 | 因温特奥股份公司 | Compensation element with blocking device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3158228A (en) * | 1961-07-18 | 1964-11-24 | Anglo Amer Corp South Africa | Rope stretch compensator for suspended conveyances in mine hoisting equipment |
| US7360630B2 (en) * | 2004-04-16 | 2008-04-22 | Thyssenkrupp Elevator Capital Corporation | Elevator positioning system |
| DE102004058757A1 (en) | 2004-12-06 | 2005-07-07 | Siemens Ag | Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft |
| JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
-
2015
- 2015-12-02 EP EP15197467.2A patent/EP3176122A1/en not_active Withdrawn
-
2016
- 2016-11-03 RS RSP20191304 patent/RS59438B1/en unknown
- 2016-11-03 CA CA3006961A patent/CA3006961C/en active Active
- 2016-11-03 AU AU2016363478A patent/AU2016363478B2/en not_active Withdrawn - After Issue
- 2016-11-03 CN CN201680070349.XA patent/CN108290717B/en active Active
- 2016-11-03 RU RU2018120354A patent/RU2700906C1/en active
- 2016-11-03 PL PL16797768T patent/PL3365262T3/en unknown
- 2016-11-03 LT LT16797768T patent/LT3365262T/en unknown
- 2016-11-03 EP EP16797768.5A patent/EP3365262B1/en active Active
- 2016-11-03 WO PCT/EP2016/076500 patent/WO2017092959A1/en active Application Filing
-
2018
- 2018-05-29 ZA ZA2018/03558A patent/ZA201803558B/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232781A (en) * | 1998-03-12 | 1999-10-27 | 株式会社东芝 | Traction elevator |
| CN1738761A (en) * | 2003-01-11 | 2006-02-22 | 催正斗 | Apparatus for equalizing tension of main ropes of elevator |
| CN1771185A (en) * | 2003-05-30 | 2006-05-10 | 奥蒂斯电梯公司 | Tie-down compensation structure for an elevator system |
| CN101959783A (en) * | 2008-02-26 | 2011-01-26 | 奥蒂斯电梯公司 | Dynamic compensation during elevator car re-leveling |
| CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
| CN104995117A (en) * | 2013-02-04 | 2015-10-21 | 因温特奥股份公司 | Compensation element with blocking device |
| CN104140019A (en) * | 2014-07-07 | 2014-11-12 | 日立电梯（中国）有限公司 | Control device and control method of elevator lift car position |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017092959A1 (en) | 2017-06-08 |
| PL3365262T3 (en) | 2020-03-31 |
| EP3176122A1 (en) | 2017-06-07 |
| RS59438B1 (en) | 2019-11-29 |
| ZA201803558B (en) | 2019-03-27 |
| CN108290717B (en) | 2019-12-06 |
| CA3006961A1 (en) | 2017-06-08 |
| AU2016363478A1 (en) | 2018-06-14 |
| EP3365262B1 (en) | 2019-08-28 |
| CA3006961C (en) | 2020-04-14 |
| RU2700906C1 (en) | 2019-09-23 |
| EP3365262A1 (en) | 2018-08-29 |
| AU2016363478B2 (en) | 2019-07-04 |
| LT3365262T (en) | 2019-10-25 |
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Effective date of registration: 20240206 Address after: Nuremberg, Germany Patentee after: Yinmengda Co.,Ltd. Country or region after: Germany Address before: Munich, Germany Patentee before: SIEMENS AG Country or region before: Germany |
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