CN102856091A - Switch device and clutch component thereof - Google Patents

Switch device and clutch component thereof Download PDF

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Publication number
CN102856091A
CN102856091A CN2011101802311A CN201110180231A CN102856091A CN 102856091 A CN102856091 A CN 102856091A CN 2011101802311 A CN2011101802311 A CN 2011101802311A CN 201110180231 A CN201110180231 A CN 201110180231A CN 102856091 A CN102856091 A CN 102856091A
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CN
China
Prior art keywords
clutch
switching device
gear
clutch gear
assembly
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Granted
Application number
CN2011101802311A
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Chinese (zh)
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CN102856091B (en
Inventor
宋建康
姜禹
蒲恩强
宋磊
李翔
姜晓军
刘云
吕远
尹茂林
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Siemens AG
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Siemens AG
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Publication date
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Priority to CN201110180231.1A priority Critical patent/CN102856091B/en
Publication of CN102856091A publication Critical patent/CN102856091A/en
Application granted granted Critical
Publication of CN102856091B publication Critical patent/CN102856091B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention provides a clutch component of a switch device. The clutch component comprises a clutch gear (10) and an operation part (20), wherein the clutch gear can be driven by a motor component (70) of the switch device and transmits to a switching gear (80) of the switch device so as to complete switching of connection states of the switch device. The operation part comprises an operation portion (22) and a contact portion (24), wherein the operation portion can drive the contact portion to move, so that the contact portion pushes the clutch gear along the clutch direction, and the clutch gear separates from transmission with the motor component. By the aid of the above structure, when the switch device is set in a manual mode, an operation handle drives the switching gear which transmits to the motor component without using the clutch gear, and thereby, operation torque of the operation handle is reduced, and even if the motor component still works, damage or safety accidents caused by mutual interference between the motor component and the switching gear can be avoided.

Description

The clutch component of switching device and switching device thereof
Technical field
The present invention relates to a kind of clutch component of switching device, relate in particular to a kind of clutch component for automatic transfer switching equipment (Automatic Transfer Switching Equipment).The present invention also provides the switching device that uses this clutch component.
Background technology
Automatic transfer switching equipment (hereinafter to be referred as switching device) is widely used in the control of the electric power system under the emergency.Fig. 1 is a kind of schematic three-dimensional structure diagram of automatic transfer switching equipment.As shown in the figure, switching device comprises a motor sub-assembly 90, and the output gear output torque by motor sub-assembly 90 also drives to the output shaft of the change gear of switching device, realizes the switching of switching device connection status; The change gear of switching device also can be operated handle 92 direct drivings and switch connection status in addition.
Switching device is divided into automatic mode and manual mode, and generally speaking, switching device is in automatic mode, and the switching of its state is all finished by the remote control terminal control motor sub-assembly 90 of switching device; But when some emergencies occurring, when perhaps needing switching device keep in repair, need under manual mode, pass through the connection status of operating grip 92 converting switch devices.When switching device is in manual mode, turning handle 92 can drive the CD-ROM drive motor assembly and rotate, even in the situation of motor sub-assembly dump, still need very large moment of torsion could drive the switching that motor sub-assembly rotated and realized connection status, if and motor sub-assembly is by misoperation and energising work, the rotation of handle can cause the damage of motor sub-assembly, and brings potential safety hazard.When switching device is in automatic mode, if handle 92 may be caused the damage of motor sub-assembly equally by misoperation, and bring potential safety hazard.
Summary of the invention
The clutch component that the purpose of this invention is to provide a kind of switching device reduces the required moment of torsion of manual mode lower handle converting switch device connection status, and guarantees the use safety of motor sub-assembly.
The present invention also provides the switching device that uses this clutch component, avoids the operating grip of switching device by misoperation under automatic mode, and cuts off the Power supply and control to motor sub-assembly under manual mode.
The invention provides a kind of clutch component of switching device, comprise a clutch gear and an operating parts.Clutch gear can be driven by the motor sub-assembly of switching device, and the change gear that drives to switching device is to finish the switching of switching device connection status.Operating parts comprises an operating portion and is connected a contact site that is connected with operating portion, and operating portion can drive the contact site motion, and contact site pushing clutch gear is moved along the clutch direction, clutch gear is broken away from and motor sub-assembly between transmission.Use said structure, after switching device is in manual mode, when operating grip drives change gear, change gear can not drive to motor sub-assembly by clutch gear, therefore reduced the operation moment of torsion of operating grip, even and motor sub-assembly still also can mutually not interfere with change gear and damage or cause security incident in work.
In another schematic execution mode of the clutch component of switching device, operating portion comprises an action bars, action bars can be along its axial rotation, and contact site comprises one with the pushing block of pushing face, action bars can drive pushing block and rotate, the pushing face of making pushing clutch gear, thus make clutch gear between clutch direction and change gear, break away from transmission.Use above-mentioned clutch structure, so that clutch gear is in clutch action, only along its axial motion, kinetic stability is high and simple in structure.
In the another kind of schematically execution mode of the clutch component of switching device, also be provided with first travelling gear between motor sub-assembly and the clutch gear.Also be provided with second travelling gear between clutch gear and the change gear.By first, second travelling gear is set, can realize the conversion of rotating speed and moment of torsion between the gear, a plurality of travelling gears can be set between motor sub-assembly, clutch gear and change gear as required.
In another schematic execution mode of the clutch component of switching device, also comprise a fixedly fixing lower plate of upper plate and, change gear, clutch gear and contact site are installed on fixedly upper plate and fixedly between the lower plate, and clutch gear and fixedly be provided with first elastic component between the lower plate, after the pushing of contact site release to clutch gear, the first elastic component can promote clutch gear along the clutch direction, makes the transmission between its recovery and the motor sub-assembly.
In another schematic execution mode of the clutch component of switching device, also comprise one can accommodating the first elastic component end cap, and end cap is connected in fixedly on the lower plate.
In another schematic execution mode of the clutch component of switching device, the spring on the clutch tooth wheel shaft of the sheathed clutch gear of the first elastic component, an end of spring is fixed on the end of clutch tooth wheel shaft, and the other end is fixed on the end cap.
In another schematic execution mode of the clutch component of switching device, contact site and fixedly be provided with second elastic component between the upper plate, the second elastic component can be assisted the rotation of action bars.The second elastic component is a torsion spring.Above-mentioned the second elastic component can assist action bars to rotate, and avoids action bars to pause between automatic mode position and manual mode position.
The present invention also provides a kind of switching device, comprises an above-mentioned clutch and an operating grip.When switching device is in manual mode, operating grip can be inserted in the switching device, to realize the switching of switching device state, when switching device is in automatic mode, switching device needs operating grip is removed, and switching device can only be realized by motor sub-assembly the switching of switching device state.Use above-mentioned switching device because under the automatic mode, operating grip is not installed on the switching device, avoided switching device by operating grip by misoperation may.
In another schematic execution mode of switching device, operating grip also is provided with a micro switch, and after operating grip was fit into switching device, micro switch can be cut off the power supply of motor sub-assembly.
In the another kind of schematically execution mode of switching device, operating portion also is provided with an auxiliary switch, and after switching device switched to manual mode by automatic mode, auxiliary switch can cut off the remote control terminal of described switching device to the control of switching device.
Description of drawings
The following drawings is only done the present invention and is schematically illustrated and explain, not delimit the scope of the invention.
Fig. 1 is a kind of schematic three-dimensional structure diagram of automatic transfer switching equipment.
Fig. 2 is the schematic diagram of a kind of exemplary embodiment of clutch component that is in the switching device of automatic mode.
Fig. 3 is the schematic diagram that clutch component shown in Figure 2 is in manual mode.
Fig. 4 is the three-dimensional exploded view of other signal execution modes of clutch component.
Fig. 5 is used for illustrating the drive connection of clutch component shown in Figure 4.
Fig. 6 is the schematic diagram of a kind of exemplary embodiment of switching device.
Label declaration
10,10A, the 10B clutch gear
12 clutch tooth wheel shafts
14 gear parting surfaces
20 operating parts
22 operating portions
222 auxiliary switches
24 contact sites
242 pushing faces
30,30A, 30B the first travelling gear
40,40A, 40B the second travelling gear
50 fixing upper plates
52 fixing lower plates
54 first elastic components
56 end caps
60 operating grips
62 micro switch
58 second elastic components
70 motor sub-assemblies
72 output gears
80 change gear.
Hereinafter will be in clear and definite understandable mode, the accompanying drawings preferred embodiment is further described the clutch component of switching device and above-mentioned characteristic, technical characterictic, advantage and the implementation thereof of switching device thereof.
Embodiment
Understand for technical characterictic, purpose and effect to invention have more clearly, now contrast description of drawings the specific embodiment of the present invention, identical label represents identical part in each figure.
For making drawing succinct, only schematically shown part related to the present invention among each figure, they do not represent it as the practical structures of product.In addition, so that drawing succinctly is convenient to understand, the parts that have same structure or function in some figure have only schematically illustrated one of them, or have only marked one of them.
Fig. 2 is the schematic diagram of the clutch component exemplary embodiment of switching device, is illustrated in figure 2 as switching device and is in automatic mode.The clutch component of switching device comprises a clutch gear 10 and an operating parts 20.Wherein clutch gear 10 can be driven by the motor sub-assembly 70 of switching device, at automatic mode shown in Figure 2, the rotation of motor sub-assembly 70 drives to the change gear 80 of switching device via clutch gear 10, and change gear 80 output torques finish that switching device connects, the switching of off-state.Operating parts 20 comprises an operating portion 22 and a contact site 24, and contact site 24 joins with an end of operating portion 22.
Fig. 3 is used for illustrating the state when arrangement of clutch shown in Figure 2 is in manual mode.When needs switched to manual mode with switching device by automatic mode, operating personnel's rotating operation bar 22 made it turn to manual mode position shown in Figure 3 from automatic mode position shown in Figure 2.In this process, action bars 22 drives contact site 24 and rotates, on the contact site 24 with a pushing face 242 that promotes clutch gear 10, wherein push face 242 and be provided with an inclined-plane (referring to Fig. 2), the inclined-plane of pushing face 242 is along direction of arrow pushing clutch gear 10 shown in Figure 2 in the process that contact site 24 rotates.Contact site 24 both can directly promote clutch gear 10, also can as shown in Figure 2, promote clutch gear 10 via a gear parting surface 14.Along with the rotation of operating parts 20, pushing face 242 is along the pushing clutch gear 10 of the direction of arrow among Fig. 2, and when operating parts 20 turned to manual mode fully, under the promotion of pushing face 242, as shown in Figure 3, clutch gear 10 broke away from change gear 80.
In the switching device, clutch component is equivalent to motor sub-assembly 70 to the transmission tie between the change gear 80, when switching device is in manual mode, clutch gear 10 under the driving of operating parts 20, break away from and change gear 80 between being in transmission connection.After switching device is in manual mode, when operating grip drives change gear, change gear can not drive to motor sub-assembly by clutch gear, therefore reduced the operation moment of torsion of operating grip, even and motor sub-assembly still also can mutually not interfere with change gear and damage or cause security incident in work.
As shown in Figure 2, operating parts 20 drives the transmission of clutch gear 10 disengagings and change gear 80, its clutch direction is not limited to the direction shown in the arrow among the figure, change gear can also in the plane perpendicular to the diagram direction of arrow, break away from and change gear between transmission.
Fig. 4 is the perspective exploded view of other exemplary embodiment of clutch component of switching device, and Fig. 5 is the schematic diagram of the driving-chain of execution mode shown in Figure 4.Referring to Fig. 4 and Fig. 5, clutch gear 10 is a stepped gear, the clutch gear 10A and the 10B that comprise coaxial setting, clutch also comprises first travelling gear 30 and second travelling gear 40, they also are stepped gears, the first travelling gear 30 comprises gear 30A and the 30B of coaxial setting, and the second travelling gear 40 comprises gear 40A and the 40B of coaxial setting.
As shown in Figure 5, the output gear 72 of motor sub-assembly is meshed with the gear 30A of the first travelling gear 30, gear 30B in the first travelling gear 30 is meshed with gear 10B in the clutch gear 10, gear 10A in the clutch gear 10 is meshed with gear 40A in the second travelling gear 40, and the gear 40B in the second travelling gear 40 is meshed with change gear 80.Via the first travelling gear 30, clutch gear 10, the second travelling gear 40, the rotation of motor sub-assembly 70 is driven to change gear 80.
As shown in Figure 4, the operating portion 22 of operating parts 20 comprises an action bars, and action bars can and drive contact site 24 rotations around its axial rotation.Identical with Fig. 1, when action bars drove contact site 24 rotation, pushing face 242 pushing clutch gears 10 made clutch gear 10 and change gear 80 break away from transmissions (referring to the position of clutch gear shown in dotted lines in Figure 5).Use above-mentioned clutch structure, so that clutch gear is in clutch action, only along its axial motion, kinetic stability is high and simple in structure.By first, second travelling gear is set, can realize the conversion of rotating speed and moment of torsion between the gear, a plurality of travelling gears can be set between motor sub-assembly, clutch gear and change gear as required.
In addition, as shown in Figure 4, clutch also comprises a fixedly fixing lower plate 52 of upper plate 50 and.The contact site 24 of the output gear 72 of clutch gear 10, motor sub-assembly 70, the first travelling gear 30, the second travelling gear 40 and change gear 80 and operating parts 20 is placed in fixedly upper plate 50 and fixedly between the lower plate 52.The clutch tooth wheel shaft 12 of clutch gear 10 and fixedly be provided with first elastic component 54 between the lower plate 52, and clutch also comprises the end cap 56 of protection first elastic component 54, end cap 56 can accommodating the first elastic components 54, and end cap 56 is connected in fixedly on the lower plate 52.In execution mode shown in Figure 4, the first elastic component 54 is helical springs that are arranged with on the clutch tooth wheel shaft 12, and the one end is installed in the end of clutch tooth wheel shaft 12, and the other end is fixed on the end cap 56.When contact site 24 promoted clutch gear 10 disengaging change gear 80, the end of clutch tooth wheel shaft 12 moved downward, and with 54 compressions of the first elastic component, produced the elastic deformation force.When contact site 24 break away from the contacting of clutch gear 10 after, the first elastic component 54 is under the effect of elastic restoring force, can drive clutch tooth wheel shaft 12 along the illustrated direction of arrow moves, and then promotion clutch gear 10, make the engagement of its recovery and the second travelling gear 40, thus the transmission between recovery and the change gear 80.Although in the described execution mode of Fig. 4, the first elastic component 54 is one and is fixed on the end of clutch tooth wheel shaft 12 and the fixing spring between the lower plate 52, also can use leaf spring, sheet spring etc.
As shown in Figure 4, clutch also comprises second elastic component 58, it is arranged on contact site 24 and fixedly between the upper plate 50, in the illustrated embodiment, the second elastic component 58 is torsion springs, one end of torsion spring is connected with fixing upper plate 50, the other end is connected with action bars, the second elastic component 58 can assist action bars to rotate, avoid action bars between automatic mode position and manual mode position, to pause, clutch gear 10 and the second travelling gear 40 occur and be in the transition state that half engagement half breaks away from, affect reliability and fail safe that whole clutch uses.In a kind of concrete execution mode of clutch, the second elastic component is a torsion spring, but also can adopt other forms to assist the rotation of action bars.
Fig. 6 is the structural representation of a kind of exemplary embodiment of switching device, and this moment, switching device was in automatic mode.As shown in the figure, switching device comprises an above-mentioned clutch and an operating grip 60.Wherein when switching device was in manual mode, operating grip 60 can insert in the switching device to realize the switching of switching device connection status; But when switching device was in illustrated automatic mode, operating grip 60 was removed from switching device, and the switching of switching device connection status can only be finished by motor sub-assembly 70 drivings.
Use above-mentioned switching device, because under the automatic mode, operating grip 60 is not installed on the switching device, avoided switching device to pass through operating grip 60 by the possibility of misoperation.When switching device is in manual mode, operating grip 60 is installed on the switching device, and above-mentioned clutch structure cuts off motor sub-assembly to being in transmission connection of change gear, operating grip 60 can directly drive the switching of change gear realization switching device connection status.
In a kind of exemplary embodiment of switching device, operating grip 60 also is provided with a micro switch 62, and after operating grip 60 was fit into switching device, micro switch 62 can be cut off the power supply of motor sub-assembly 70, avoids under the manual state motor sub-assembly 70 by misoperation.
As shown in Figure 5, the operating portion 22 of operating parts 20 also is provided with an auxiliary switch 222, after switching device has automatic mode to switch to manual mode, auxiliary switch 222 can send a remote control terminal that controls signal to switching device, thereby cut off remote control terminal to the control of switching device, avoid under manual mode, remote control terminal is caused switching device security incident to occur by misoperation.
The invention provides a kind of clutch component of switching device, comprise a clutch gear (10) and an operating parts (20).Clutch gear can be driven by the motor sub-assembly (70) of switching device, and the change gear (80) that drives to switching device is to finish the switching of switching device connection status.Operating parts comprises an operating portion (22) and a contact site (24), and operating portion can drive contact site motion, and contact site pushing clutch gear is moved along the clutch direction, clutch gear is broken away from and motor sub-assembly between transmission.Use said structure, after switching device is in manual mode, when operating grip drives change gear, change gear can not drive to motor sub-assembly by clutch gear, therefore reduced the operation moment of torsion of operating grip, even and motor sub-assembly still also can mutually not interfere with change gear and damage or cause security incident in work.
In this article, " on ", D score only is used for the position relationship between the expression relevant portion, and non-limiting their absolute position.
In this article, " schematically " expression " is served as example, example or explanation ", any diagram, the execution mode that is described in this article " schematically " should be interpreted as a kind of preferred or have more the technical scheme of advantage.
Be to be understood that, although this specification is described according to each embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, those skilled in the art should make specification as a whole, technical scheme among each embodiment also can through appropriate combination, form other execution modes that it will be appreciated by those skilled in the art that.
Above listed a series of detailed description only is specifying for feasibility embodiment of the present invention; they are not to limit protection scope of the present invention, allly do not break away from equivalent embodiment or the change that skill spirit of the present invention does and all should be included within protection scope of the present invention.

Claims (12)

1. the clutch of switching device comprises:
A clutch gear (10), described clutch gear (10) can be driven by the motor sub-assembly (70) of described switching device, and the change gear (80) that drives to described switching device is to finish the switching of described switching device connection status; With
An operating parts (20), described operating parts (20) comprises an operating portion (22) and is connected a contact site (24) that is connected with described operating portion (22), and described operating portion (22) can drive described contact site (24) motion, make described contact site (24) push described clutch gear (10) and move along the clutch direction, make the transmission between clutch gear (10) disengaging and the described motor sub-assembly (70).
2. clutch as claimed in claim 1, wherein said operating portion (22) comprises an action bars, described action bars can be along its axial rotation, and described contact site (24) comprises one with the pushing block of pushing face (242), described action bars can drive described pushing block and rotate, make described pushing face (242) push described clutch gear (10), thereby make described clutch gear (10) between described clutch direction and described change gear (80), break away from transmission.
3. clutch as claimed in claim 1 also is provided with first travelling gear (30) between wherein said motor sub-assembly (70) and the described clutch gear (10).
4. clutch as claimed in claim 1 also is provided with second travelling gear (40) between wherein said clutch gear (10) and the described change gear (80).
5. clutch as claimed in claim 1, wherein also comprise a fixedly fixing lower plate (52) of upper plate (50) and, described change gear (80), described clutch gear (10) and described contact site (24) are installed between described fixedly upper plate (50) and the described fixedly lower plate (52), and be provided with first elastic component (54) between described clutch gear (10) and the described fixedly lower plate (52), after the pushing of described contact site (24) release to described clutch gear (10), described the first elastic component (54) can promote described clutch gear (10) along described clutch direction, makes the transmission between its recovery and the described motor sub-assembly (70).
6. clutch as claimed in claim 5, wherein also comprise one can accommodating described the first elastic component end cap (56), and described end cap (56) is connected on the described fixedly lower plate (52).
7. clutch as claimed in claim 6, spring on the clutch tooth wheel shaft (12) of the sheathed described clutch gear of wherein said the first elastic component (54) (10), one end of described spring is fixed on the end of described clutch tooth wheel shaft (12), and the other end is fixed on the described end cap (56).
8. clutch as claimed in claim 5 is provided with second elastic component (58) between wherein said contact site (24) and the described fixedly upper plate (50), and described the second elastic component (58) can be assisted the rotation of described action bars.
9. clutch as claimed in claim 8, wherein said the second elastic component (58) is a torsion spring.
10. switching device, it comprises:
One such as the described clutch of claim 1 to 9 any one; With
An operating grip (60), when described switching device is in manual mode, described operating grip (60) can be inserted in the described switching device, to realize the switching of described switching device state, when described switching device is in automatic mode, described switching device needs described operating grip (60) is removed, and described switching device can only be realized by described motor sub-assembly (70) switching of described switching device state.
11. switching device as claimed in claim 10, wherein said operating grip (60) also is provided with a micro switch (62), after described operating grip (60) was fit into described switching device, described micro switch (62) can be cut off the power supply of described motor sub-assembly (70).
12. switching device as claimed in claim 10, wherein said operating portion (22) also is provided with an auxiliary switch (222), after described switching device switched to manual mode by automatic mode, described auxiliary switch (222) can cut off the remote control terminal of described switching device to the control of described switching device.
CN201110180231.1A 2011-06-29 2011-06-29 Switch device and clutch component thereof Expired - Fee Related CN102856091B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201110180231.1A CN102856091B (en) 2011-06-29 2011-06-29 Switch device and clutch component thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110180231.1A CN102856091B (en) 2011-06-29 2011-06-29 Switch device and clutch component thereof

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Publication Number Publication Date
CN102856091A true CN102856091A (en) 2013-01-02
CN102856091B CN102856091B (en) 2014-12-10

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103426696A (en) * 2013-08-13 2013-12-04 德力西电气有限公司 Manual and electric switching knob of breaker reclosing mechanism
CN111407051A (en) * 2020-04-30 2020-07-14 临海市利聚工艺品有限公司 Multifunctional movable base for outdoor umbrella
CN112220400A (en) * 2020-09-28 2021-01-15 山东交通学院 Automatic driving and sweeping robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1453806A (en) * 2003-04-29 2003-11-05 苏州市相城区电器研究所 Hand and electric clutch unit for change-over switch
CN101197217A (en) * 2007-12-12 2008-06-11 无锡市凯旋电机有限公司 Electric motor operation switch with engaging and disengaging gear
CN101252046A (en) * 2008-03-04 2008-08-27 常熟开关制造有限公司(原常熟开关厂) Electric operating mechanism of circuit-breaker
CN201163576Y (en) * 2008-03-20 2008-12-10 施耐德电器工业公司 Switch
CN101714472A (en) * 2009-12-16 2010-05-26 中国西电电气股份有限公司 Electrical operating mechanism for switchgear

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1453806A (en) * 2003-04-29 2003-11-05 苏州市相城区电器研究所 Hand and electric clutch unit for change-over switch
CN101197217A (en) * 2007-12-12 2008-06-11 无锡市凯旋电机有限公司 Electric motor operation switch with engaging and disengaging gear
CN101252046A (en) * 2008-03-04 2008-08-27 常熟开关制造有限公司(原常熟开关厂) Electric operating mechanism of circuit-breaker
CN201163576Y (en) * 2008-03-20 2008-12-10 施耐德电器工业公司 Switch
CN101714472A (en) * 2009-12-16 2010-05-26 中国西电电气股份有限公司 Electrical operating mechanism for switchgear

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103426696A (en) * 2013-08-13 2013-12-04 德力西电气有限公司 Manual and electric switching knob of breaker reclosing mechanism
CN103426696B (en) * 2013-08-13 2016-02-17 德力西电气有限公司 Manual and the electronic conversion knob of reclosure mechanism of disconnector
CN111407051A (en) * 2020-04-30 2020-07-14 临海市利聚工艺品有限公司 Multifunctional movable base for outdoor umbrella
CN112220400A (en) * 2020-09-28 2021-01-15 山东交通学院 Automatic driving and sweeping robot
CN112220400B (en) * 2020-09-28 2021-12-31 山东交通学院 Automatic driving and sweeping robot

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